Transport container inspection device, transport container inspection method, and transport container loading / unloading system

Abstract

To easily inspect conditions over the entire surface of a transportation container.SOLUTION: An inspection device used in a transportation container loading / unloading system according to the present invention having a mounting / rotation mechanism for rotating a transportation container about an axis at a base part capable of mounting the same, and a gripping / lifting mechanism for gripping the transportation container and lifting the same up / down above the base part of the mounting / rotation mechanism in order to carry the transportation container into or out of a predetermined storage facility has a grasp part for grasping the outer surface condition of the transportation container and a control unit. The grasp part performs a first acquisition operation for acquiring first outer surface information by scanning or imaging a first outer surface part of the transportation container mounted on the base part of the mounting / rotation mechanism in conjunction with the rotation operation, and a second acquisition operation for acquiring second outer surface information by scanning or imaging a second outer surface part of the transportation container gripped above the base part of the mounting / rotation mechanism by the gripping / lifting mechanism. The control unit generates outer surface condition information of the transportation container based on the first outer surface information and the second outer surface information.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a transport container inspection device, a transport container inspection method, and a transport container loading / unloading system. [Background technology]

[0002] Conventionally, in container transport operations, maintenance management of the container itself is important to protect the cargo from temperature and humidity changes during transport. Therefore, the exterior and interior of the container are visually inspected when the container is brought in and taken out. Therefore, various technologies have been proposed to realize automation to reduce manpower and improve inspection quality.

[0003] For example, Patent Document 1 discloses an automated inspection method that detects images including at least a portion of one of the bottom, back, front, sides, and / or roof of a shipping container and a container code that appears in at least one of the images, identifies one or more characteristics of the shipping container, and identifies and evaluates the condition of the shipping container based on the identified physical characteristics.

[0004] Furthermore, for example, Patent Document 2 discloses a technology for detecting and predicting abnormalities in a transport container based on information obtained from a temperature sensor attached to the transport container, the technology comprising: a first image acquisition means for irradiating a predetermined light onto the container and capturing an image of the light reflected from the container surface to acquire image data; a second image acquisition means for capturing an image of a predetermined position on the container to acquire image data of the surface; a damage recognition means for recognizing damage on the container surface from the image data acquired by the first image acquisition means; a damage discrimination means for discriminating the type of damage to the container from the image data acquired by the first image acquisition means; and a display screen generation means for generating a screen that displays an image data acquired by the second image acquisition means superimposed on the damage discrimination result acquired by the damage discrimination means. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2022-514859 [Patent Document 2] Japanese Unexamined Patent Application Publication No. 2007-322173 [Summary of the Invention] [Problems to be Solved by the Invention]

[0006] By the way, for transport containers such as containers that are carried into or out of storage facilities such as three-dimensional storage warehouses, a great deal of labor is required to inspect the entire surface condition of the transport container. However, in neither of the technologies described in Patent Documents 1 and 2, a specific method for detecting damage to the entire surface of the transport container, particularly the bottom surface, has been studied. Therefore, there has been a demand for a technology that can easily detect the condition such as damage over the entire surface of the transport container.

[0007] The present invention has been made in view of the above, and an object thereof is to provide a transport container inspection device, a transport container inspection method, and a transport container loading / unloading system that can easily inspect the condition over the entire surface of the transport container. [Means for Solving the Problems]

[0008] In order to solve the above-described problems and achieve the object, a transport container inspection device according to an aspect of the present invention has a base portion on which a transport container can be placed for carrying the transport container into or out of a predetermined storage facility, and a placement rotation mechanism configured to be rotatable about an axis center. The transport container inspection device is used in a transport container loading / unloading system having a gripping lifting mechanism configured to grip the transport container and be movable up and down above the base portion of the placement rotation mechanism. The transport container inspection device includes a grasping unit configured to grasp the outer surface state of the transport container and a control unit. The grasping unit performs a first acquisition operation of acquiring first outer surface information by scanning or imaging a first outer surface portion of the transport container placed on the base portion of the placement rotation mechanism in conjunction with a rotation operation, and a second acquisition operation of acquiring second outer surface information by scanning or imaging a second outer surface portion of the transport container gripped above the base portion of the placement rotation mechanism by the gripping lifting mechanism. The control unit generates outer surface state information of the transport container based on the first outer surface information and the second outer surface information.

[0009] In the transport container inspection device according to an aspect of the present invention, in the above invention, the grasping unit includes a light emitting unit disposed at a predetermined position and a light detection unit configured to detect light information obtained from the transport container when light irradiated from the light emitting unit within a predetermined range irradiates the transport container. The first acquisition operation is an operation of scanning a first outer surface portion of the transport container placed on the base portion of the placement rotation mechanism with light irradiated from the light emitting unit in conjunction with a rotation operation and acquiring the first outer surface information of the transport container from the light detection unit. The second acquisition operation is an operation of scanning a second outer surface portion of the transport container gripped above the base portion of the placement rotation mechanism by the gripping lifting mechanism with light irradiated from the light emitting unit and acquiring the second outer surface information of the transport container from the light detection unit.

[0010] The transport container inspection device according to one aspect of the present invention, in the above invention, the grasping unit includes an imaging unit disposed at a predetermined position, and the first acquisition operation is an operation of acquiring the first outer surface information of the transport container obtained by imaging the first outer surface portion of the transport container placed on the base portion of the placement rotation mechanism with the imaging unit in conjunction with the rotation operation of the transport container, and the second acquisition operation is an operation of acquiring the second outer surface information of the transport container obtained by imaging the second outer surface portion of the transport container held above the base portion of the placement rotation mechanism by the gripping lifting mechanism with the imaging unit.

[0011] The transport container inspection device according to one aspect of the present invention, in the above invention, the first acquisition operation is controlled such that the light emitted from the light emitting unit scans the first outer surface portion of the transport container at regular intervals with respect to the rotation of the transport container placed on the base portion of the placement rotation mechanism.

[0012] The transport container inspection device according to one aspect of the present invention, in the above invention, the light emitting unit of the grasping unit can change the light emission position during the first acquisition operation and the second acquisition operation.

[0013] The transport container inspection device according to one aspect of the present invention, in the above invention, the imaging unit of the grasping unit can change the imaging position during the first acquisition operation and the second acquisition operation.

[0014] The transport container inspection device according to one aspect of the present invention, in the above invention, the first outer surface portion scanned or imaged by the grasping unit is a portion of the outer surface other than the placement surface on which the transport container is placed on the base portion, and the second outer surface portion scanned or imaged by the grasping unit is a portion of the placement surface.

[0015] A method for inspecting a transport container according to an aspect of the present invention is a method for inspecting a transport container in a transport container loading / unloading system having a mounting rotation mechanism having a base portion on which the transport container is rotatably mounted about an axis for loading the transport container into or unloading the transport container from a predetermined storage facility, and a gripping lifting mechanism configured to grip the transport container and be movable up and down above the base portion of the mounting rotation mechanism, the method including: performing a first acquisition operation of acquiring first outer surface information by scanning or imaging a first outer surface portion of the transport container placed on the base portion of the mounting rotation mechanism in conjunction with a rotation operation; performing a second acquisition operation of acquiring second outer surface information by scanning or imaging a second outer surface portion of the transport container gripped above the base portion of the mounting rotation mechanism by the gripping lifting mechanism; and generating outer surface state information of the transport container based on the first outer surface information and the second outer surface information.

[0016] A transport container loading / unloading system according to an aspect of the present invention is a transport container loading / unloading system for loading a transport container into or unloading the transport container from a predetermined storage facility, the system including: a mounting rotation mechanism having a base portion on which the transport container can be placed and configured to be rotatable about an axis; a gripping lifting mechanism configured to grip the transport container and be movable up and down above the base portion of the mounting rotation mechanism; a grasping unit configured to grasp an outer surface state of the transport container; and a control unit, the grasping unit performing a first acquisition operation of acquiring first outer surface information by scanning or imaging a first outer surface portion of the transport container placed on the base portion of the mounting rotation mechanism in conjunction with a rotation operation and a second acquisition operation of acquiring second outer surface information by scanning or imaging a second outer surface portion of the transport container gripped above the base portion of the mounting rotation mechanism by the gripping lifting mechanism, and the control unit generating outer surface state information of the transport container based on the first outer surface information and the second outer surface information.

[0017] A transport container loading / unloading system according to an aspect of the present invention, in the above invention, acquires identification information for identifying the transport container based on the outer surface state information of the transport container.

Advantages of the Invention

[0018] The transport container inspection device, transport container inspection method, and transport container loading / unloading system according to the present invention can easily inspect the state over the entire surface of the transport container.

Brief Description of the Drawings

[0019]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5A

Figure 5B

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0020] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In all the drawings of the following embodiment, the same or corresponding parts are denoted by the same reference numerals. Further, the present invention is not limited to the embodiment described below. Also, the embodiment described below is a technology related to, for example, improving the functions of a three-dimensional storage facility, and particularly relates to the maintenance of transport containers such as containers, but is not necessarily limited thereto.

[0021] FIG. 1 is a block diagram showing the configuration of a storage facility control system as a transport container loading / unloading system according to an embodiment of the present invention. As shown in FIG. 1, a storage facility control system 1 including a transport container inspection device according to an embodiment of the present invention has a learning device 10, a control device 20, and a three-dimensional storage facility 30 that can communicate with each other via a network 2. Note that the control device 20 may include the learning device 10. Also, the three-dimensional storage facility 30 may include at least one of the learning device 10 and the control device 20. Further, only the storage section (not shown) of the container 38 in the three-dimensional storage facility 30 may be provided separately. The control device 20 is configured to be able to collect various information from the three-dimensional storage facility 30 via the network 2. Note that when the three-dimensional storage facility 30 includes the control device 20, the operations of a control section 31 and an ID recognition section 32, which will be described later, are executed by the control device 20.

[0022] The network 2 is, for example, a public communication network such as the Internet, and is composed of, for example, one or a combination of a telephone communication network such as a LAN (Local Area Network), a WAN (Wide Area Network), a mobile phone, a public line, a VPN (Virtual Private Network), and a dedicated line. The network 2 is appropriately combined with wired communication and wireless communication.

[0023] (Three-dimensional storage facility) The three-dimensional storage facility 30 as an inspection facility is, for example, a storage facility such as a three-dimensional storage warehouse in which a container 38 as a transport container is stored. The three-dimensional storage facility 30 is provided with a control unit 31, an ID recognition unit 32, a sensor unit 33, an imaging unit 34, a turntable 37, a crane 39, and a storage unit (not shown). The storage unit is configured to be able to store the container 38. It is also possible not to provide the imaging unit 34. The grasping unit in the storage facility control system 1 is configured by at least one of the sensor unit 33 and the imaging unit 34.

[0024] The control unit 31 has a communication unit 31a that can communicate via the network 2. The control unit 31 as a control means specifically includes a processor such as a CPU (Central Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field-Programmable Gate Array) having hardware, and a main storage unit such as a RAM (Random Access Memory) and a ROM (Read Only Memory) (none of which are shown). The communication unit 31a as a communication means is, for example, a LAN (Local Area Network) interface board or a wireless communication circuit for wireless communication. The LAN interface board and the wireless communication circuit are connected to the network 2. The communication unit 31a connects to the network 2 and communicates with the learning device 10 and the control device 20.

[0025] The ID recognition unit 32 is configured to be controlled by the control unit 31 to recognize the container identification ID of the container 38. The sensor unit 33 is composed of at least one distance measuring sensor or the like. When the sensor unit 33 measures distance by irradiating a predetermined range of an object with light such as laser light, it includes a light emitting unit that emits laser light, and a light detecting unit that detects transmitted light that has passed through the object to be irradiated or reflected light reflected from the object as optical information. Specifically, the sensors constituting the sensor unit 33 may include distance measuring sensors such as LiDAR (Laser Imaging Detection and Ranging) that irradiates laser light, laser scan sensors, TOF (Time Of Flight) cameras, X-ray sensors that irradiate X-rays, and infrared sensors that irradiate infrared rays, or sensors that combine these sensors. Here, the distance measuring sensor can measure the distance from the installation position to the surface of the container 38 by irradiating and reflecting predetermined light such as laser light. The distance measuring sensor can perform so-called sensing that measures the distance to the surface of the container 38 in association with two-dimensional position information from the installation position to the surface of the container 38. Note that sensing includes various measurements performed by the sensor unit 33, and in particular, measurements including distance measurement (range finding) using light irradiation and reflection are preferred. As the two-dimensional position information, coordinates P(x, y) based on the xy plane, coordinates P(r, θ) at a distance r and a rotation angle θ, etc. can be used. The sensor unit 33 outputs the measured value of the distance measured by sensing to the control unit 31. The control unit 31 transmits the acquired measured value of the distance to the control device 20 via the communication unit 31a.

[0026] The imaging unit 34 is arranged at a predetermined position and is composed of at least one imaging device. Examples of the imaging device include a camera that captures still images and a camera that captures moving images. Here, the imaging device can image the outer surface state on the surface of the container 38 by capturing an image or video based on the reflection of light of the object using, for example, a CCD camera. Note that sensing includes various imaging performed by the imaging unit 34.

[0027] The turntable 37 as a placement and rotation mechanism is provided, for example, at the entrance and exit for carrying in and out the container 38 in the three-dimensional storage facility 30. The turntable 37 has a base portion on which the container 38 carried in from the outside by a moving body such as a truck, a cargo ship, or an aircraft, or the container 38 conveyed from a storage (not shown) in the three-dimensional storage facility 30 can be placed, and is configured to be rotatable around a predetermined axis center. The control of the rotation speed (rpm), the rotational angular velocity (rad / s), the rotation angle θ (rad), the start of rotation, the stop of rotation, the stop position, and the rotation angle, etc. in the turntable 37 is executed by the control unit 31. That is, the three-dimensional storage facility 30 constitutes a turntable control system that controls the turntable 37 by the control unit 31.

[0028] The crane 39 as a gripping and lifting mechanism is composed of, for example, an overhead crane provided above the turntable 37 at the entrance and exit for carrying in and out the container 38 in the three-dimensional storage facility 30. The crane 39 is composed of, for example, a stacker crane that can grip and suspend the container 38. The control of the gripping, releasing, horizontal movement, ascending, descending, movement speed, stop position, etc. of the container 38 in the crane 39 is executed by the control unit 31. That is, the three-dimensional storage facility 30 constitutes a crane control system that controls the crane 29 by the control unit 31.

[0029] (Learning device) In the present embodiment, the learning device 10 as a machine learning device is configured to be able to acquire sensor information such as point cloud information regarding the outer surface 38a of the container 38 detected by the sensor unit 33 and image information of the container 38 imaged by the imaging unit 34 in the three-dimensional storage facility 30. Note that since the video data when the imaging unit 34 captures a video can be treated as a plurality of image data, the image data includes the concept of imaging data. The learning device 10 executes a data collection process of collecting various information transmitted from at least one three-dimensional storage facility 30 having a communication unit (not shown) via the network 2.

[0030] The learning device 10 is capable of performing machine learning based on various collected information. The learning device 10 includes a control unit 11, a storage unit 12, a communication unit 13, an output unit 14, and an input unit 15. The control unit 11 and the communication unit 13 are each configured functionally and physically in the same manner as the control unit 31 and the communication unit 31a. The communication unit 13 is connected to the network 2 and communicates with the control device 20 and the three-dimensional storage facility 30.

[0031] Physically, the storage unit 12 is composed of a storage medium selected from volatile memories such as RAM, non-volatile memories such as ROM, EPROM (Erasable Programmable ROM), hard disk drives (HDDs), solid state drives (SSDs), and removable media. The removable media is, for example, a USB (Universal Serial Bus) memory or a disk recording medium such as a CD (Compact Disc), a DVD (Digital Versatile Disc), or a BD (Blu-ray (registered trademark) Disc). Alternatively, the storage unit 12 may be configured using a computer-readable recording medium such as an externally attachable memory card. The storage unit 12 can store an operating system (OS), various programs, various tables, various databases, etc., for executing the operations of the learning device 10. The various programs include the learning model and neural network according to the present embodiment. These various programs can also be recorded on a computer-readable recording medium such as a hard disk, a flash memory, a CD-ROM, a DVD-ROM, or a flexible disk and widely distributed.

[0032] In this embodiment, the control unit 11 loads the program stored in the storage unit 12 into the working area of the main storage unit and executes it, and controls each component through the execution of the program, thereby realizing a function that meets a predetermined purpose. Specifically, the control unit 11 can realize the functions of the learning unit 111, the prediction unit 112, the calculation unit 113, and the state input unit 114 by executing the program.

[0033] By executing the program by the control unit 11, the function of the learning unit 111 is executed. The learning unit 111 can perform machine learning based on the input / output data set received by the learning device 10. The learning unit 111 uses sensor information such as point cloud information measured by the sensor unit 33 and image information obtained by imaging by the imaging unit 34 as teacher input parameters, and the container damage information of the container 38 as teacher output parameters, and can perform machine learning with the teacher input / output data set. Through the machine learning by the learning unit 111, the control unit 11 can recognize, for example, damage information (also referred to as damage information) from the point cloud information and the image information by a point cloud recognition algorithm or an image recognition algorithm. Note that the damage information includes not only specific damage in a container such as the container 38 but also deterioration and the like.

[0034] The learning unit 111 stores, in the storage unit 12 as a container state learning model 123, the learning results regarding the determination of states such as the damage state of the container 38 generated by learning. The learning unit 111 may store, at a predetermined timing, the latest learning model at that timing in the storage unit 12 separately from the neural network being learned. When storing in the storage unit 12, it may be updated by deleting the old container state learning model 123 and storing the latest container state learning model 123, or it may be accumulated by storing the latest container state learning model 123 while preserving part or all of the old container state learning model 123. Also, in the generation of the container state learning model 123, in addition to supervised learning, unsupervised learning or the like may be adopted. The container state learning model 123 can adopt various learning models generated by, for example, deep learning or a recurrent neural network (RNN) such as LSTM (Long short-term memory). In other words, any model that can be used for artificial intelligence (AI) capable of extracting abnormal parts from the sensor information obtained by measuring the object by the sensor unit 33 or the image information obtained by imaging the object by the imaging unit 34 can be adopted.

[0035] The storage unit 12 stores a container information database 121 and a container identification ID database 122. The container information database 121 stores, in a searchable manner, information such as the dimensions (length, width, height, and depth) and specifications of the container 38 (hereinafter referred to as container basic information) as the basic container information.

[0036] The container information database 121 further stores information regarding damage to the container 38 (container damage information) as container damage information, information regarding changes over time of the container 38 (container aging information) as container aging information, and the like. The container information includes container basic information, container damage information, and container aging information. The container basic information, container damage information, and container aging information acquired by the state input unit 114 are associated with the container identification ID as the identification information of the container 38 and stored in the container information database 121 in a searchable state.

[0037] The container information including the container aging information as the transport container aging information may include information such as the delivery route of the container 38, the orderer (ordering company), the carrier, and the repair history. The information on the delivery route may include information such as the country of origin and the country of destination of the delivery and the specific route. The information on the repair history may include information such as the time of repair and the location repaired. The container information may include image information obtained by imaging the state of the container 38 and sensor information obtained by sensing the container 38. The sensor information may include at least one of distance information by a distance measuring sensor, X-ray information by an X-ray sensor, and infrared information by an infrared sensor.

[0038] The container time-series information includes information that is configured by associating container damage information related to a container identification ID for identifying each container 38 with time and summarized in a time series. Further, the container time-series information includes image information (container damage information) as part of the outer surface information that images the damage state of the container 38, and sensor information (damage sensor information) as part of the outer surface information in which the damage state of the container 38 is sensed. The damage image information can be image information that divides the damage state of the container 38 by color coding or hatching. These various types of information regarding the container 38 are stored in the container information database 221 in association with the container identification ID as container time-series information along the time history. Note that the container basic information, the container damage information, and the container time-series information may each be stored in the storage unit 22 as individual databases. Even in this case, the container basic information, the container damage information, and the container time-series information are each stored in the container identification ID database 222 and associated with the container identification ID. Further, the container information is not limited to the information described above.

[0039] In the container information database 121, container information is stored in a searchable manner in association with the container identification ID. The container identification ID includes various types of information unique to the container 38 for identifying individual containers 38 from each other, and includes information necessary for accessing the control device 20 and the three-dimensional storage facility 30 during communication of information related to the container 38. Each of the container identification IDs stored in the container identification ID database 122 is associated with the corresponding container 38 in the container information database 121.

[0040] The output unit 14 as an output means is configured to notify predetermined information to the outside by displaying characters, figures, etc. on the screen of a display such as a liquid crystal display or a plasma display, or outputting sound from a speaker according to the control by the control unit 11. Further, the output unit 14 includes a printer that outputs by printing predetermined information on printing paper or the like. Various information stored in the storage unit 12 can be confirmed, for example, on a monitor of the output unit 14 installed in a predetermined office or the like.

[0041] The input unit 15 as an input means is composed of, for example, a keyboard, a touch panel type keyboard incorporated inside the output unit 14 for detecting a touch operation on the display panel, or a voice input device enabling a call with the outside. Note that the input unit 15 may be integrated with the output unit 14 to be an input / output unit such as a touch panel display or a speaker microphone.

[0042] (Control device) The control device 20 has a configuration capable of communicating with the learning device 10 and the three-dimensional storage facility 30 via the network 2. The control device 20 includes a control unit 21, a storage unit 22, a communication unit 23, an output unit 24, and an input unit 25. The control unit 21, the storage unit 22, the communication unit 23, the output unit 24, and the input unit 25 each have a configuration physically and functionally similar to the above-described control units 11, 31, the storage unit 12, the communication units 13, 31a, the output unit 14, and the input unit 15.

[0043] In the present embodiment, the control unit 21 loads the program stored in the storage unit 22 into the working area of the main storage unit and executes it, and realizes a function that matches a predetermined purpose by controlling each component through the execution of the program. Specifically, the control unit 21 can realize the functions of the loading / unloading management unit 211 and the ID recognition unit 212 by executing the program.

[0044] The loading / unloading management unit 211 performs various management operations related to the container 38, such as loading the container 38 into, for example, the three-dimensional storage facility 30 or unloading it from the three-dimensional storage facility 30. The ID recognition unit 212 obtains a unique container identification ID for identifying the individual containers 38 from each other from the individual containers 38. Since the container identification ID unique to the container 38 is often displayed on the outer surface of the container 38, the ID recognition unit 32 of the three-dimensional storage facility 30 can extract the container identification ID from the image data and sensor information. That is, the container identification ID can be identified by transmitting the image data obtained by the imaging unit 34 capturing the container 38 and the sensor information detected by the sensor unit 33 to the ID recognition unit 32 for the container 38. In addition, when the container identification ID is recorded by an RFID (Radio Frequency Identification) device or the like, the ID recognition unit 32 may sense the RFID and obtain the container identification ID from the container 38.

[0045] The ID recognition unit 32 of the three-dimensional storage facility 30 transmits the information of the obtained container identification ID to the ID recognition unit 212 of the control device 20. The ID recognition unit 212 stores the recognized container identification ID in the container identification ID database 222 and associates it with the corresponding container 38 in the container information database 221. Note that the container information database 221 stores container information in a searchable manner in association with the container identification ID. The container identification ID includes various information for identifying the individual containers 38 from each other, and includes information necessary for accessing the learning device 10 and the control device 20 during communication of information related to the container 38.

[0046] The storage unit 22 stores a container information database 221 and a container identification ID database 222. The container information database 221 stores, as basic container information, information such as the dimensions (length, width, height, and depth) and specifications of the container 38 (hereinafter referred to as container basic information) in a searchable manner. The container information database 221 further stores information regarding damage to the container 38 (container damage information) as container damage information, and information regarding changes over time of the container 38 (container information over time) as container information over time. The container information includes container basic information, container damage information, and container information over time. The container basic information and the container information over time obtained by the loading / unloading management unit 211 are stored in the container information database 221 in a searchable state, associated with the container identification ID of the container 38. In addition, container IDs (hereinafter referred to as container shape identification IDs) set for each shape of the container 38 can also be stored in the container identification ID database 122. The container shape identification ID is an ID that cannot identify individual containers 38 but can identify the shape of the container 38.

[0047] That is, the storage unit 22 of the control device 20 stores the previously stored container information (container basic information, container information over time, container damage information) in the container information database 221 in a searchable state, associated with the container identification ID. The container information database 221 and the container identification ID database 222 stored in the storage unit 22 are each configured to be synchronizable with the container information database 121 and the container identification ID database 122 stored in the storage unit 12 of the learning device 10 as appropriate, at any time, or as needed.

[0048] The communication unit 23 is connected to the network 2 and can communicate with the learning device 10 and the three-dimensional storage facility 30. The communication unit 23 collects various types of information such as sensor information obtained by the sensor unit 33 and image information captured by the imaging unit 34 according to a command signal output based on the control by the control unit 21. Note that the information transmitted and received by the communication unit 23 is not limited to these types of information. In the present embodiment, the control device 20 can also function as a cloud server that can communicate via the network 2.

[0049] As described above, by configuring the three-dimensional storage facility control system with the control device 20 and the three-dimensional storage facility 30, the subsystems can be integrated and controlled, and damage detection processing, storage in the container information database 221, etc. can be controlled.

[0050] (Container inspection method) Next, a method for inspecting the container 38 by the storage facility control system 1 configured as described above will be described. FIG. 2 is a flowchart for explaining the method for inspecting the container 38 according to the present embodiment. In the following description, the transmission, reception, supply, or acquisition of information among the learning device 10, the control device 20, and the three-dimensional storage facility 30 is executed via the communication units 13, 23, 31a and the network 2, but the description of each time is omitted.

[0051] As shown in FIG. 2, in step ST1, the container 38 is carried into the three-dimensional storage facility 30. When the container 38 is placed on the turntable 37 at the loading entrance of the three-dimensional storage facility 30 such as a storage warehouse, it is automatically stored in a predetermined storage location within the three-dimensional storage facility 30 by the crane 39. That is, a moving body (not shown) such as a truck, a cargo ship, or an aircraft that has transported the container 38 arrives at the loading area of the three-dimensional storage facility 30. Subsequently, using a predetermined conveying means, here for example the crane 39, the container 38 is gripped and lifted to be taken out from the moving body. Subsequently, after moving the container 38 above the turntable 37, the crane 39 is lowered, and the container 38 is released while being placed on the turntable 37. Thereby, the container 38 is transferred from the moving body onto the turntable 37. Note that various methods can be adopted as a method for transferring the container 38 from the moving body onto the turntable 37. Thereafter, the control unit 31 controls the sensor unit 33 to sense the container 38. Further, the control unit 31 controls the imaging unit 34 to image the container 38 as necessary.

[0052] Next, moving to step ST2, after the container 38 is placed or during the transfer of the container 38, the ID recognition unit 32 obtains the container identification ID of the container 38 based on, for example, image information acquired by RFID or the imaging unit 34. The ID recognition unit 32 transmits the obtained container identification ID to the control device 20. The ID recognition unit 212 of the control unit 21 of the control device 20 recognizes the container identification ID of the container 38. Since the container identification ID unique to the container 38 is often displayed on the outer surface of the container 38, the ID recognition unit 212 can extract and recognize the container identification ID from the image information. Note that when the container identification ID is recorded by RFID or the like, the container identification ID may be obtained by an RFID device (not shown) or the like. The ID recognition unit 212 stores the recognized container identification ID in the container identification ID database 222 and also stores it in the container information database 221 as a registration key. That is, the container ID recognition system constituted by the ID recognition units 212 and 32 enables the container identification ID of the container 38 to be recognized.

[0053] Subsequently, the process proceeds to step ST3, where the ID recognition unit 212 outputs the recognized container identification ID to the loading / unloading management unit 211. The loading / unloading management unit 211 reads out the container information associated with the container identification ID from the container information database 221 based on the acquired container identification ID. Thereby, the loading / unloading management unit 211 acquires the basic container information including the dimensions of the container 38 and the like.

[0054] Thereafter, the process proceeds to step ST4, where the loading / unloading management unit 211 of the control unit 21 derives the rotation position control method of the turntable 37. That is, the loading / unloading management unit 211 performs operations such as deriving the control method of the rotation speed in the rotation operation when rotating the turntable 37 and deriving the rotation angle in the case of performing step rotation that repeats rotation and stop in the measurement by the sensor unit 33. Hereinafter, the rotation position control method in step ST4 will be specifically described.

[0055] (Rotation Position Control Method) The rotation position control of the turntable 37 in the sensing method of the container 38 by the sensor unit 33 executed in step ST4 will be described. FIGS. 3, 4, 5A, and 5B are diagrams for explaining the rotation position control method of the turntable 37 provided in the three-dimensional storage facility 30 according to the present embodiment.

[0056] Conventionally, the turntable 37 has been rotated at a constant angular velocity. In this case, as shown in FIG. 3, when the container 38 is sensed by the sensor unit 33, there will be coarseness and fineness (in FIG. 3, the circles represent the coarse and fine parts) in the measurement intervals for sensing. According to the findings of the present inventor, when there is coarseness and fineness in the measurement intervals during sensing by the sensor unit 33, there is a possibility that sufficient resolution cannot be obtained. Therefore, when storing the container 38 in the three-dimensional storage facility 30, the present inventor has considered a method of sensing or imaging each surface of the container 38 using a sensor unit 33 such as a distance sensor or an imaging unit 34 such as a camera in order to measure the shape of the container 38. That is, when measuring the container 38 held by the crane 39 or placed on the turntable 37, the present inventor has considered a method of improving the resolution in the data such as sensor information and image information obtained by devising the control of the turntable 37 and the crane 39.

[0057] First, the present inventor considered controlling the rotational position of the turntable 37 in order to detect the container 38 on the turntable 37 with a certain resolution in the container 38 rotating on the turntable 37. The present inventor came up with the idea that it is preferable to control the rotation angle of the turntable 37 in consideration of the overall approximate dimensions of the container 38, that is, the shape of the container 38, which has been obtained in advance, and the positional relationship between the sensor unit 33 and the outer surface of the container 38 sensed by the sensor unit 33.

[0058] The shape of the container 38 is stored in the container information database 221 as basic container information. The basic container information is associated with a container identification ID or a container shape identification ID. That is, the loading / unloading management unit 211 in the control unit 21 of the control device 20 can determine the shape of the container 38 by reading the basic container information from the storage unit 22 based on the container identification ID or the container shape identification ID obtained from the three-dimensional storage facility 30. Since the shape of the container 38 is known, the loading / unloading management unit 211 can derive the rotation angle θ of the turntable by setting the measurement interval d, which is a fixed interval, by the sensor unit 33.

[0059] That is, as shown in FIG. 4, assuming the case where the container 38 rotates on the turntable 37, a fixed measurement interval d is set on the outer surface 38a such as the side surface and the upper surface of the container 38, and the reference position P0 and the measurement points P1, P2, P3, P4, …, P n are set. In this case, the rotation angles θ1, θ2, θ3, θ4, … will be geometrically different angles. Therefore, in order to measure the outer surface 38a at fixed intervals by the sensor unit 33, it is preferable to perform sensing by the sensor unit 33 each time the container 38 is rotated by the rotation angles θ1, θ2, θ3, θ4, …, θ n . Also, when the sensor unit 33 emits laser light at a predetermined period for distance measurement, the loading / unloading management unit 211 derives the rotational angular velocity based on the rotation angles θ1, θ2, θ3, θ4, … so that the outer surface 38a of the container 38 has a fixed measurement interval d at the predetermined period. The same applies when an imaging unit 34 is used instead of the sensor unit 33 for imaging.

[0060] Specifically, as shown in FIGS. 5A and 5B, the rotation angle of the container 38 for periodic measurement at a constant measurement interval d can be expressed as follows. Here, let the length of the container 38 in the longitudinal direction be 2L, and the length in the width direction orthogonal to the longitudinal direction be 2W. Also, in the examples shown in FIGS. 5A and 5B, for example, let the front surface of the container 38 be the first surface 381, the rear surface be the second surface 382, the side surfaces be the third surface 383 (left side surface) and the fourth surface 384 (right side surface), the upper surface be the fifth surface 385, and the lower surface be the sixth surface 386. In this case, when the container 38 is placed on the turntable 37, the first surface 381 to the fifth surface 385 as the first outer surface portion become the exposed surfaces, and the sixth surface 386 as the second outer surface portion becomes the non-exposed surface on the lower surface.

[0061] When set in this way, when the first surface 381 faces the sensor unit 33, in other words, when the surface of the first surface 381 is perpendicular to the incident light of the laser light irradiated from the sensor unit 33, this is taken as the reference. In this reference, the rotation angle θ around the rotation center O of the turntable 37 is set to 0 rad. Regarding the positional relationship of the container 38 with respect to the sensor unit 33, the rotation angle θ of the turntable 37 can be set to 0 rad in an arbitrary state. Also, from the sensor unit 33 to a predetermined measurement point P on the outer surface 38a of the container 38 j The distance to is the distance D j Then, the coordinates of the measurement point P j Are based on the measurement interval d at the measurement point P j (jd, D j ) can be expressed.

[0062] Here, regarding the direction when placing the container 38 on the turntable 37 and the dimensions of the container 38, they are known based on the acquired basic container information. Therefore, the control units 21, 31 calculate the distance D from the rotation center O of the turntable 37 to the outer surface 38a of the container 38 j Based on the rotation angle θ jIt can be derived from. In addition, as a method for obtaining the dimensions of the container 38, in addition to the method of obtaining from the basic container information associated with the container identification ID, when the container 38 is placed on the turntable 37, the sensor unit 33 and the imaging unit 34 that constitute the grasping unit measure it in a state where the rotation operation of the turntable 37 is set to a constant angular velocity, that is, it may be obtained by so-called rough measurement.

[0063] Such a measurement point P j is the position facing the sensor unit 33, that is, the position where the laser light emitted from the sensor unit 33 is irradiated (measurement point P j ). When this occurs, the rotation angle θ j of the turntable 37 is represented by the following formula (1) or (2) according to the surface. θ j = arctan(jd / L)…(1) However, it is limited to the case of measuring the first surface 381 and the second surface 382. θ j = arctan(jd / W)…(2) However, it is limited to the case of measuring the third surface 383 and the fourth surface 384.

[0064] Also, the rotation angle θ j of the turntable 37 of the first surface 381 shown in formula (1) holds within the following range. 0 ≤ θ j ≤ arctan(W / L), 2π - arctan(W / L) ≤ θ j ≤ 2π Also, the rotation angle θ j of the turntable 37 of the second surface 382 shown in formula (1) holds within the following range. π - arctan(W / L) ≤ θ j ≤ π + arctan(W / L)

[0065] Similarly, the rotation angle θ j of the turntable 37 of the third surface 383 shown in formula (2) holds within the following range. arctan(W / L) ≤ θ j ≤ π - arctan(W / L) Also, the rotation angle θ of the turntable 37 of the fourth surface 384 shown in formula (2) j holds within the following range. π - arctan(W / L) ≤ θ j ≤ π + arctan(W / L)

[0066] When set as above, in the measurement of the first surface 381 or the second surface 382 obtained by rotating the turntable 37 from the reference position P0 (0 rad) by θ j (rad), based on θ shown in formula (1), the turntable 37 is rotated and stopped at the timing of measurement, and this is repeated. Note that the control unit 31 can also control the angular velocity of the turntable 37 to be at a constant measurement interval based on formula (1) or formula (2) according to the surface to be measured. j Based on the above, by rotating the turntable 37 with the container 38 placed thereon, it becomes possible to sense the first surface 381 to the fourth surface 384, which are surfaces perpendicular to the horizontal plane, of the outer surface 38a of the container 38 by the sensor unit 33 at a predetermined measurement interval d. That is, as the first acquisition operation, the sensor unit 33 and the imaging unit 34, which are grasping units, scan or image the first surface 381 to the fourth surface 384, which are part of the first outer surface portion of the container 38, in conjunction with the rotation operation of the turntable 37. Thereby, the sensor unit 33 and the imaging unit 34 can acquire first outer surface information including imaging information and sensor information, and can grasp the first outer surface state of the exposed first outer surface portion other than the placement surface of the container 38 by measurement.

[0067]

[0068] ​In addition, a plurality of sensor units 33 may be provided. The sensor unit 33 for sensing the fifth surface 385 and the sensor unit 33 for sensing the surfaces (the first surface 381 to the fourth surface 384) perpendicular to the horizontal plane among the outer surfaces of the container 38, that is, the side surfaces of the container 38, may be provided separately. In this case, as shown in FIG. 1, at least one sensor unit 33 may be provided at a position higher than the height of the container 38 placed on the turntable 37 for sensing. Thus, regarding the measurement of the fifth surface 385 parallel to the horizontal plane, which is a part of the first outer surface portion on the upper surface of the container 38, it can be measured by sensing with the sensor unit 33 at a position higher than the height of the container 38. When one sensor unit 33 is configured to be movable up and down, when the light emitting portion of the sensor unit 33 senses the fifth surface 385, the sensor unit 33 may be raised, and when sensing the first surface 381 to the fourth surface 384, the sensor unit 33 may be configured to be lowered. As described above, the sensing of the exposed surfaces other than the sixth surface 386 serving as the bottom surface as the placement surface is completed.

[0069] Returning to FIG. 2 and proceeding to step ST5, the control unit 21 acquires the sensor information, image information on the front, side, rear, and upper surfaces of the measured container 38, that is, the first outer surface information indicating the first outer surface state obtained by measuring the first outer surface portion of the container 38. The control unit 21 associates the acquired sensor information and image information with the container identification ID acquired in step ST2 and adds them to the container information. The container information with the sensor information and image information added is stored in the container information database 221 of the storage unit 22 by the control unit 21.

[0070] Next, the process proceeds to step ST6, and the loading / unloading management unit 211 controls the crane 39 to grip and lift the container 38. Then, in order to store it in the three-dimensional storage facility 30, it is moved in a predetermined direction. At this time, as the second acquisition operation, by controlling the crane 39, the crane 39 is moved so that at least a part, preferably the entire surface, of the sixth surface 386, which is the second outer surface part of the lower surface of the container 38, can be sensed or imaged by the sensor unit 33 and the imaging unit 34. As a result, the loading / unloading management unit 211 of the control unit 21 can acquire the sensor information and image information of the bottom surface (the sixth surface 386) of the container 38, that is, the second outer surface information indicating the second outer surface state of the second outer surface part. That is, the second outer surface state in the second outer surface part of the container 38 can be grasped by measurement by the sensor unit 33 and the imaging unit 34.

[0071] In steps ST5 and ST6, in the inspection by sensing or imaging the container 38 in the three-dimensional storage facility 30, by installing a sensor unit 33 such as a LiDAR and an imaging unit 34 such as an image camera at the loading entrance of the three-dimensional storage facility 30, it becomes possible to scan all six sides (the first side 381 to the sixth side 386) including the lower surface of the container 38. That is, by the sensor unit 33 and the imaging unit 34, when the turntable 37 rotates at the time of loading the container 38, the upper surface of the fifth side 385 and the side surfaces of the first side 381 to the fourth side 384 can be scanned. Also, by the sensor unit 33 and the imaging unit 34, when the crane 39 stores the container 38 in the three-dimensional storage facility 30 in the suspended state where the container 38 is suspended, the lower surface of the sixth side 386 can be scanned. Thereby, when storing the container 38 in the three-dimensional storage facility 30, it becomes possible to scan the entire outer surface 38a of the container 38 by the sensor unit 33 and the imaging unit 34. Therefore, the control device 20 can integrate the container information regarding the container 38 thus obtained and acquire the point cloud information and image information of the entire surface of the container 38. Also, the light emitting part of the sensor unit 33 and the imaging unit 34 may be configured to be able to change the light emission position and the imaging position in the first acquisition operation and the second acquisition operation. Thereby, it becomes possible to sense the entire outer surface 38a of the container 38 by the sensor unit 33 and the imaging unit 34.

[0072] (Container damage detection) Next, shifting to step ST7, the loading / unloading management unit 211 of the control device 20 transmits the acquired sensor information and image information to the learning device 10 and executes damage determination. Note that it is also possible for the control device 20 to read the container state learning model 123 and execute damage determination. In the learning device 10, the container state learning model 123 is read, and based on the acquired sensor information and image information, the sensor information and image information of the first side 381 to the sixth side 386 which are the outer surface 38a of the container 38 are input as input parameters to the container state learning model 123. FIG. 6 is a diagram for explaining the method of detecting damage to the container 38 according to the present embodiment.

[0073] As shown in FIGS. 1 and 6, by scanning the entire outer surface 38a of the container 38 with the sensor unit 33 and the imaging unit 34, for each surface of the container 38, that is, for each surface of the first surface 381 to the sixth surface 386, values that are significantly different from the original distance from the sensor unit 33 can be derived, and damaged portions can be detected. Further, by imaging the outer surface of the container 38 with the imaging unit 34, image information of the outer surface 38a of the container 38 can also be obtained.

[0074] Then, the loading / unloading management unit 211 uses the information on the outer surfaces 38a of the first surface 381 to the sixth surface 386 of these containers 38, that is, the first outer surface information and the second outer surface information, as point cloud information and image information, and generates outer surface state information of the container 38, thereby detecting damage. As a result, as shown in FIG. 6, machine learning is performed by the learning device 10 using the damage information based on the point cloud obtained by the sensor unit 33 as teacher data, and the image information of the first surface 381 to the sixth surface 386 obtained by the imaging unit 34 is input to the learning device 10 as measurement data, so that it becomes possible to detect the damaged portion of the container 38. The container damage information of the container 38 obtained by the detection is transmitted to the control unit 21.

[0075] It is also possible to perform machine learning by the learning device 10 using an input / output data set that integrates the point cloud information by the sensor unit 33 and the image information by the imaging unit 34 as teacher data. Further, machine learning is performed by the learning device 10 using the damage information based on the image obtained by the imaging unit 34 as teacher data, and the sensor information such as the point cloud information of the first surface 381 to the sixth surface 386 as the first outer surface information and the second outer surface information obtained by the sensor unit 33 is input to the learning device 10 as measurement data, so that it is possible to generate the outer surface state information of the container 38 and detect the damaged portion. By performing damage determination of the container 38 by these methods, the damage of the container 38 can be determined with high accuracy.

[0076] In the above manner, the control unit 21 acquires container damage information based on the sensor information and image information obtained by scanning the first surface 381 to the sixth surface 386 of the container 38 by the sensor unit 33 and the imaging unit 34. The control unit 21 stores the acquired container damage information in the container information database 221 of the storage unit 22. Thus, the damage detection process of the container 38 according to the present embodiment is completed.

[0077] According to the above-described embodiment, it is possible to grasp the state of the container 38 including the lower surface of the container 38, which is generally difficult to inspect, by the sensor unit 33 and the imaging unit 34. Also, the measurement data obtained by the sensor unit 33 and the imaging unit 34 can be accumulated in a database (container information database 221). Therefore, it becomes possible to predict the breakage of the container 38 using the database in cooperation with the three-dimensional storage facility 30. Furthermore, it becomes possible to grasp in detail the state and situation of the breakage of the container 38. Also, by inspecting the container 38 at the time of loading into the three-dimensional storage facility 30, a system configuration that can improve the efficiency of inspection and storage of the container 38 can be realized.

[0078] Also, since it is possible to measure the entire six surfaces of the container including the bottom surface with high precision, it becomes possible to detect high-precision damage to the container 38. Furthermore, by automating the inspection of the lower surface (bottom surface) of the container 38, it is possible to suppress the occurrence of problems caused by damage to the lower surface, which has been easily overlooked. Also, by accumulating the image information and the point cloud information as sensor information obtained by the sensor unit 33, it becomes possible to predict high-precision damage, so the possibility of preventing the breakage of the container 38 is improved. Also, by improving the accuracy of sensing by the sensor unit 33 in combination with the past measurement data stored in the container information database 221, the scan can be made high-definition and the possibility of the occurrence of breakage can be predicted.

[0079] Specifically, based on the container identification ID, container information including information on past damage detection results is acquired from the container information database 221. In the case of the container 38 where damage has occurred in the past, regarding the location of the damage, the measurement interval d is made smaller and denser than normal, and in the vicinity of the location where the damage has occurred, high-precision sensing by the sensor unit 33 and imaging by the imaging unit 34 are performed to detect signs such as minor damage. As a method of making the measurement interval d smaller and denser, methods such as slowing down the moving speed of the crane 39 or reducing the rotation angle θ j of the turntable 37 to reduce the step width can be cited. Furthermore, by accumulating container information, more accurate prediction of breakage becomes possible, and by accumulating and learning the history of point clouds and images for the container regarding the breakage information in the container 38, the probability of breakage occurrence can be derived. Also, when the sign probability is high, by scanning more finely to increase the resolution of the data, it becomes easier to detect signs.

[0080] Also, as shown in FIG. 7, the container identification ID is recognized from the container 38 by the ID recognition units 32, 212, and this container identification ID is supplied to the storage facility 30 controlled by the control device 20. By controlling the control unit 31 of the three-dimensional storage facility 30 by the container identification ID and storing the container information in the container information database 221 of the storage unit 22 in association with the container identification ID, the information obtained by measuring the container 38 can be associated with the container identification ID and made into a database. Therefore, a database storing a large amount of container information of the container 38 can be obtained, the damage of the container 38 can be predicted, and problems caused by the damage can be suppressed.

[0081] (Recording medium) In the above-described embodiment, a program for causing a learning device 10 or a control device 20 to execute a processing method can be recorded on a recording medium readable by a device such as a computer, other machines, or a wearable device (hereinafter referred to as a computer or the like). By causing a computer or the like to read and execute the program of this recording medium, the computer or the like functions as a movement control device. Here, a recording medium readable by a computer or the like refers to a non-transitory recording medium that accumulates information such as data and programs by an electrical, magnetic, optical, mechanical, or chemical action and can be read by a computer or the like. Examples of removable recording media among such recording media include flexible disks, magneto-optical disks, CD-ROMs, CD-R / Ws, DVDs, BDs, DATs, magnetic tapes, and memory cards such as flash memories. Also, hard disks, ROMs, etc. are recording media fixed to a computer or the like. Furthermore, an SSD can be used as either a removable recording medium from a computer or the like or a recording medium fixed to a computer or the like.

[0082] Also, the program to be executed by the learning device 10 and the control device 20 according to an embodiment may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network.

[0083] (Other Embodiments) In one embodiment, the above-described "section" can be read as "circuit" or the like. For example, the control section can be read as a control circuit.

[0084] In the description of the flowchart in this specification, expressions such as "first", "next", "after that", and "subsequently" are used to clarify the sequence of processing between steps. However, the order of processing necessary to implement this embodiment is not uniquely determined by these expressions. That is, the order of processing in the flowchart described in this specification can be changed within a non - contradictory range.

[0085] Further effects and modifications can be easily derived by those skilled in the art. The broader aspects of the present disclosure are not limited to the specific details and representative embodiments described and represented as above. Therefore, various changes can be made without departing from the spirit or scope of the general inventive concept defined by the appended claims and their equivalents. For example, the numerical values and types of information given in the above - mentioned embodiment are merely examples, and different numerical values and types of information can be used as necessary. The present invention is not limited by the description and drawings that form part of the disclosure of the present invention according to the above - mentioned embodiment.

[0086] For example, in the above - mentioned embodiment, in the storage facility control system 1, the learning device 10, the control device 20, and the three - dimensional storage facility 30 are described as separate entities, but they are not necessarily limited to being configured separately. Specifically, the learning device 10 and the control device 20 may be integrally configured. When the learning device 10 and the control device 20 are integrally configured, the control device inputs the sensor information and image information of the first surface 381 to the sixth surface 386 as input parameters into the container state learning model 123.

[0087] Further, the three-dimensional storage facility 30 may include the learning device 10. Additionally, the storage facility where the three-dimensional storage facility 30 is installed may include the learning device 10. Also, the control device 20 may be configured to be included in the three-dimensional storage facility 30 or in the storage facility that includes the three-dimensional storage facility 30. When the control device 20 is included in the three-dimensional storage facility 30, the control unit 31 and the communication unit 31a are respectively realized by the control unit 21 and the communication unit 23 of the control device 20. That is, the control units 21 and 31 can be realized by a physically and functionally identical control unit. Furthermore, the learning device 10 and the control device 20 may be integrally configured. In this case, the control unit 11 of the learning device 10 and the control unit 21 of the control device 20 can be realized by a physically and functionally identical control unit. Also, the three-dimensional storage facility 30 may include the learning device 10 and the control device 20. In this case, the control unit 11 of the learning device 10, the control unit 21 of the control device 20, and the control unit 31 of the three-dimensional storage facility 30 can be realized by a physically and functionally identical control unit.

Explanation of Reference Numerals

[0088] 1 Storage Facility Control System 2 Network 10 Learning Device 11, 21, 31 Control Unit 12, 22 Storage Unit 13, 31a Communication Unit 14, 24 Output Unit 15, 25 Input Unit 20 Control Device 23 Communication Unit 30 Three-Dimensional Storage Facility 32, 212 ID Recognition Unit 33 Sensor Unit 34 Imaging Unit 37 Turntable 38 Container 38a Outer Surface 39 Crane 111 Learning Unit 112 Prediction Unit 113 Calculation Unit 114 State Input Unit 121, 221 Container Information Database 122,222 Container Identification ID Database 123 Container State Learning Model 211 In / Out Management Department 381 First Side 382 Second Side 383 Third Side 384 Fourth Side 385 Fifth Side 386 Sixth Side

Claims

1. A transport container inspection device used in a transport container loading and unloading system, which has a mounting base portion on which a transport container can be placed, a mounting rotation mechanism configured to be rotatable about an axis center for loading or unloading the transport container into or from a predetermined storage facility, and a gripping lifting mechanism configured to grip the transport container and be movable up and down above the base portion of the mounting rotation mechanism. The device includes: A grasping unit for grasping the outer surface state of the transport container; A control unit. The grasping unit: Performs a first acquisition operation of acquiring first outer surface information by scanning or imaging a first outer surface portion of the transport container placed on the base portion of the mounting rotation mechanism in conjunction with a rotation operation; Performs a second acquisition operation of acquiring second outer surface information by scanning or imaging a second outer surface portion of the transport container held above the base portion of the mounting rotation mechanism by the gripping lifting mechanism. The control unit: Generates outer surface state information of the transport container based on the first outer surface information and the second outer surface information. Transport container inspection device.

2. The grasping unit includes a light emitting unit disposed at a predetermined position and a light detecting unit for detecting light information obtained from the transport container when light irradiated from the light emitting unit within a predetermined range irradiates the transport container. The first acquisition operation is an operation of scanning the first outer surface portion of the transport container placed on the base portion of the mounting rotation mechanism with light irradiated from the light emitting unit in conjunction with a rotation operation and acquiring the first outer surface information of the transport container from the light detecting unit. The second acquisition operation is an operation of scanning the second outer surface portion of the transport container held above the base portion of the mounting rotation mechanism by the gripping lifting mechanism with light irradiated from the light emitting unit and acquiring the second outer surface information of the transport container from the light detecting unit. The transport container inspection device according to Claim 1.

3. The gripping portion includes an imaging unit disposed at a predetermined position. The first acquisition operation is an operation of acquiring the first outer surface information of the transport container, which is obtained by imaging, with the imaging unit, the first outer surface portion of the transport container placed on the base portion of the placement and rotation mechanism in conjunction with the rotation operation of the transport container. The second acquisition operation is an operation of acquiring the second outer surface information of the transport container, which is obtained by imaging, with the imaging unit, the second outer surface portion of the transport container gripped above the base portion of the placement and rotation mechanism by the gripping and lifting mechanism. The transport container inspection device according to claim 1.

4. In the first acquisition operation, the light emitted from the light emitting unit is controlled to scan the first outer surface portion of the transport container at regular intervals with respect to the rotation of the transport container placed on the base portion of the placement and rotation mechanism. The transport container inspection device according to claim 2.

5. The light emitting unit of the gripping portion can change the light emission position during the first acquisition operation and the second acquisition operation. The transport container inspection device according to claim 2.

6. The imaging unit of the gripping portion can change the imaging position during the first acquisition operation and the second acquisition operation. The transport container inspection device according to claim 3.

7. The first outer surface portion scanned or imaged by the gripping portion is a portion of the outer surface other than the placement surface on which the transport container is placed on the base portion, and the second outer surface portion scanned or imaged by the gripping portion is a portion of the placement surface. The transport container inspection device according to claim 1.

8. A transport container inspection method in a transport container loading and unloading system having a placement and rotation mechanism with a base portion for rotatably placing a transport container about an axis for loading the transport container into or unloading the transport container from a predetermined storage facility, and a gripping and lifting mechanism for gripping the transport container and configured to be movable up and down above the base portion of the placement and rotation mechanism, comprising: Performing a first acquisition operation of acquiring first outer surface information by scanning or imaging a first outer surface portion of a transport container placed on the base portion of the placement and rotation mechanism in conjunction with a rotation operation; Performing a second acquisition operation of acquiring second outer surface information by scanning or imaging a second outer surface portion of a transport container gripped above the base portion of the placement and rotation mechanism by the gripping and lifting mechanism; Generating outer surface state information of the transport container based on the first outer surface information and the second outer surface information. Transport container inspection method.

9. A transport container loading and unloading system for loading a transport container into or unloading the transport container from a predetermined storage facility, comprising: A placement and rotation mechanism having a base portion on which a transport container can be placed and configured to be rotatable about an axis, and a gripping and lifting mechanism for gripping the transport container and configured to be movable up and down above the base portion of the placement and rotation mechanism; A grasping unit for grasping the outer surface state of the transport container; A control unit, and The grasping unit Performs a first acquisition operation of acquiring first outer surface information by scanning or imaging a first outer surface portion of a transport container placed on the base portion of the placement and rotation mechanism in conjunction with a rotation operation, and Performs a second acquisition operation of acquiring second outer surface information by scanning or imaging a second outer surface portion of a transport container gripped above the base portion of the placement and rotation mechanism by the gripping and lifting mechanism, and The control unit Generates outer surface state information of the transport container based on the first outer surface information and the second outer surface information Transport container loading and unloading system.

10. Obtaining identification information for identifying the transport container based on the outer surface state information of the transport container The transport container loading / unloading system according to claim 9.

Images