Cargo handling system, cargo handling management program, and cargo handling management method

Abstract

To provide a cargo handling system capable of preliminarily sorting fruits and vegetables for each packing box before loading and unloading by a forklift.SOLUTION: A cargo handling system is equipped with a plurality of boxes placed in a specified area and a forklift for loading and unloading the plurality of boxes, and includes an unmanned aerial vehicle 1 and a cargo handling determination unit. The unmanned aerial vehicle 1 has an infrared camera, and takes an image of a box B with the infrared camera beforehand before loading and generates a load image. The cargo handling determination unit determines the placement location and / or loading order of the box B based on the load image.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a cargo handling system that uses a forklift, and a cargo handling management program and a cargo handling management method used in the system. [Background technology]

[0002] Fruits and vegetables are harvested, placed in boxes, and transported by truck, and then transported to a sorting machine by a forklift. Conventionally, sorting machines that measure and sort fruit size, weight, sugar content, etc. using various sensors and image processing technology are known. For example, Patent Document 1 discloses a method of irradiating fruit with light including near-infrared rays, capturing an image of the reflected light, and detecting blemishes on the fruit that cannot be detected under visible light based on the generated image.

[0003] However, the condition of the fruits and vegetables may vary from one packing box to another, and some packing boxes may have many scratches or be in a state of advanced deterioration. It is preferable that such fruits and vegetables in packing boxes be prioritized and then sorted by a sorting machine before being shipped. However, without the use of the sensors and image processing technology described above, scratches and deterioration are often not detected. As a result, the shipment of fruits and vegetables that should be shipped earlier is sometimes delayed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-147279 Summary of the Invention [Problem to be solved by the invention]

[0005] Therefore, an object of the present invention is to provide a loading and unloading system that can preliminarily sort fruits and vegetables into boxes before loading them using a forklift. [Means for solving the problem]

[0006] In order to solve the above problems, the cargo handling system according to the present invention comprises: A cargo handling system including a plurality of containers placed in a predetermined area and a forklift for handling the containers, an unmanned aerial vehicle having an infrared camera, which takes an image of a cargo box with the infrared camera before cargo handling to generate a cargo image; and a loading / unloading determination unit that determines the loading location and / or loading order of the boxes based on the load image.

[0007] The cargo handling system preferably comprises: The cargo handling determination unit has a score output unit that analyzes the cargo image and outputs a score, and determines a cargo placement location and / or a cargo handling order based on the score output by the score output unit.

[0008] The cargo handling system includes, for example: The contents of the container are fruits and vegetables, The score output unit analyzes the image of the package and outputs the degree of damage to the fruit or vegetable as a score.

[0009] The cargo handling system includes, for example: The contents of the container are fruits and vegetables, The score output unit analyzes the package image and outputs the degree of internal quality as a score.

[0010] The cargo handling system includes, for example: An identifier relating to the contents of the packing box is displayed on the surface of the packing box, and the identifier is covered with a material that is permeable to near-infrared rays to prevent the packing box from shifting. The infrared camera captures the identifier through the cargo protection material, The loading / unloading determination unit determines the loading location and / or loading order of the boxes based on the information contained in the identifiers.

[0011] The cargo handling system preferably comprises: Further provided with a notification unit, The notification unit notifies the operator of the forklift of the loading location and / or loading order determined by the loading / unloading determination unit.

[0012] In order to solve the above problems, the cargo handling management program according to the present invention comprises: a forklift that loads and unloads boxes placed in a predetermined location; an unmanned aerial vehicle having an infrared camera, which takes an image of the contents of a cargo box with the infrared camera before cargo handling to generate a cargo image; A cargo handling management program used in a cargo handling system including a computer having an arithmetic unit and a storage unit, The cargo handling management program is installed on the computer. a score output unit that analyzes the package image and outputs a score; The score output unit is operated as a loading / unloading determination unit that determines the loading location and / or loading order of the packing boxes based on the scores output by the score output unit.

[0013] In order to solve the above problems, the cargo handling management method according to the present invention comprises: A cargo handling management method used in a cargo handling system including a cargo box placed in a predetermined area, a forklift that handles the cargo box, an unmanned aerial vehicle having an infrared camera, and a cargo handling determination unit, Taking an image of the cargo box with an infrared camera before handling and generating a cargo image; The loading and unloading process includes determining, by a loading and unloading determination unit, the loading and unloading locations and / or the loading and unloading order of the boxes based on the load image. [Effects of the Invention]

[0014] The loading and unloading system according to the present invention can preliminarily sort fruits and vegetables into boxes before they are unloaded by a forklift. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a schematic front view of a cargo handling system according to a first embodiment of the present invention. [Figure 2]FIG. 2 is a schematic plan view of the cargo handling system shown in FIG. [Figure 3] FIG. 2 is a block diagram of the cargo handling system shown in FIG. 1. [Figure 4] FIG. 1 is a perspective view showing an unmanned aerial vehicle capturing an image of a shipping box. [Figure 5] A shows a view of the fruit and vegetables under visible light, and B shows a portion of a load image generated by a near-infrared camera. [Figure 6] FIG. 2 is a flow chart showing the flow of cargo handling work in the cargo handling system according to the first embodiment. [Figure 7] FIG. 4 is a schematic front view of a cargo handling system according to a second embodiment of the present invention. [Figure 8] FIG. 8 is a block diagram of the cargo handling system shown in FIG. 7. [Figure 9] FIG. 1 is a perspective view showing an unmanned aerial vehicle capturing an image of a shipping box. [Figure 10] 1 shows a load image generated by a near-infrared camera. [Figure 11] FIG. 10 is a flow chart showing the flow of cargo handling operations in the cargo handling system according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0016] First Embodiment First, a first embodiment of a cargo handling system, cargo handling management program, and cargo handling management method according to the present invention will be described with reference to Figures 1 to 6. Figure 1 is a schematic front view of a cargo handling system S according to the first embodiment of the present invention, and Figure 2 is a schematic plan view of the cargo handling system S. Figure 3 is a block diagram of the cargo handling system S. As shown in Figure 2, a first area E1, a second area E2, and a third area E3 are set within the facility according to this embodiment.

[0017] As shown in Figures 1 and 2, the cargo handling system S includes a truck T, an unmanned aerial vehicle 1, a forklift 2, and a management device 3. In this embodiment, the "predetermined area" of the present invention is the loading platform of the truck T, and the multiple cargo boxes B managed by the cargo handling system S are multiple cargo boxes B transported by the truck T. However, these are merely examples, and the "predetermined area" of the present invention and the cargo boxes B managed by the cargo handling system S are not particularly limited. For example, the cargo handling system S may target cargo boxes B that have been transported by the truck T and are waiting in a specific waiting area.

[0018] Furthermore, the cargo handling system S is not particularly limited in the number of unmanned aerial vehicles 1 and forklifts 2. The contents of the shipping box B in this embodiment are apples, but this is merely an example, and are not particularly limited as long as the blemishes D and internal quality can be scored using the infrared camera 15.

[0019] <Unmanned Aerial Vehicle> The unmanned aerial vehicle 1 is an aerial vehicle commonly known as a drone, and has a main body 10 (see FIG. 4), four propellers 11 (see FIG. 4) arranged on each of the four sides of the main body 10, and a power unit 12 (see FIG. 3) that rotates the propellers 11. The unmanned aerial vehicle 1 is configured to be able to fly and hover using the propellers 11. The unmanned aerial vehicle 1 is also configured to be able to communicate with a management device 3.

[0020] As shown in FIG. 3, the unmanned aerial vehicle 1 further includes a flight position detection unit 13, a load position detection unit 14, an infrared camera 15, and an aerial vehicle control unit 16.

[0021] The flight position detection unit 13 has known sensors such as a GPS sensor and an ultrasonic sensor, and detects the position of the unmanned aerial vehicle 1 using these sensors.

[0022] The cargo position detection unit 14 has a camera and an analysis unit. The camera takes an image of the cargo bed of the truck T to generate a cargo bed image, and the analysis unit analyzes the generated cargo bed image to detect the position of the cargo box B. Note that the configuration of the cargo position detection unit 14 is not limited to this, and for example, the cargo position detection unit 14 may be configured with a two-dimensional LiDAR or a three-dimensional LiDAR, which may be used to detect the position of the cargo box B.

[0023] The infrared camera 15 is provided at the bottom of the main body 10 (see FIG. 4). The infrared camera 15 is capable of sensing near-infrared light, and as shown in FIG. 4, captures an image of the position of the packing box B detected by the packing position detection unit 14 to generate a pack image. The infrared camera 15 may be configured as a multi-wavelength spectroscopic camera that is also capable of capturing visible light. In this case, the infrared camera 15 may function as the camera of the packing position detection unit 14.

[0024] 4, all or at least a portion of the top of the shipping box B is open, allowing the contents to be imaged by the infrared camera 15. Alternatively, at least a portion of the shipping box B may be configured to be transparent to near-infrared rays, thereby allowing the contents of the shipping box B to be imaged by near-infrared rays.

[0025] Figure 5A shows a view of fruit or vegetable F under visible light, and Figure 5B shows a portion of a package image generated by a near-infrared camera. As shown in Figure 5A, a flaw D on fruit or vegetable F that is not visible under visible light is visible in the package image as shown in Figure 5B.

[0026] The unmanned aerial vehicle 1 may further include a near-infrared irradiating unit that is configured with an LED or the like and irradiates near-infrared light. In this case, the near-infrared irradiating unit irradiates near-infrared light onto the position of the cargo box B detected by the cargo position detection unit 14. Then, the infrared camera 15 scans the near-infrared light reflected by the contents of the cargo box B to generate a cargo image.

[0027] Naturally, near-infrared rays are not only reflected from the surface of the object, but also penetrate and reflect through the object to a certain extent. Therefore, by adjusting the amount and angle of irradiation of near-infrared rays, infrared camera 15 can capture images of the contents of fruit or vegetable F within a range that allows for measurement of blemishes D and internal quality (sweetness, sourness, starch content, discoloration, cavities, etc.).

[0028] Based on flight commands from the management device 3, which will be described later, the aircraft control unit 16 controls the power unit 12 to move the unmanned aircraft 1 to above the platform, then controls the cargo position detection unit 14 to detect the position of the cargo boxes B, and controls the infrared camera 15 to generate cargo images corresponding to each cargo box B. The generated cargo images are sent to the management device 3 together with the position information of the corresponding cargo box B.

[0029] <Forklift> As shown in Figures 1 and 2, in this embodiment, the forklift 2 is an unmanned forklift that travels and performs loading and unloading operations autonomously. The forklift 2 has wheels, a vehicle body, forks, and a lifting device 20 (see Figure 3). The forklift 2 is configured so that the forks can be raised and lowered by the lifting device 20, and the forks lift and lower the shipping boxes B. The forklift 2 is also configured so that it can communicate with a management device 3.

[0030] As shown in FIG. 3, the forklift 2 further includes a vehicle position detection unit 21, a drive unit 22, and a vehicle control unit .

[0031] The vehicle position detection unit 21 uses known sensors such as a GPS sensor and a laser sensor to detect the position of the forklift 2. The drive unit 22 drives the wheels and changes direction.

[0032] The vehicle control unit 23 controls the drive unit 22 to drive the wheels and move the forklift 2 to the commanded position based on the cargo handling command from the management device 3. When the forklift 2 arrives at the commanded position, the vehicle control unit 23 controls the lifting device 20 to raise or lower the cargo box B.

[0033] <Management device> The management device 3 has a computer, which has a storage device and an arithmetic unit. The storage device stores a cargo handling management program of the present invention. The cargo handling management program causes the computer to operate as an aircraft command unit 31, a score output unit 32, a cargo handling determination unit 33, and a cargo handling command unit 34, which will be described later.

[0034] As shown in FIG. 3, the management device 3 has, as functional components, a storage unit 30, an aircraft command unit 31, a score output unit 32, a cargo handling determination unit 33, and a cargo handling command unit .

[0035] The storage unit 30 stores the position of the bed of a truck T parked in a predetermined truck area TE. The storage unit 30 also stores the positions of the first, second, and third areas E1, E2, and E3.

[0036] When truck T arrives at truck area TE, the aircraft command unit 31 sends a flight command including the position of the loading platform to unmanned aircraft 1 so that unmanned aircraft 1 flies to the loading platform of truck T.

[0037] The score output unit 32 analyzes each package image received from the unmanned aerial vehicle 1 and outputs a score. In this embodiment, the score output unit 32 outputs the degree of damage D of the fruit or vegetable F as a score.

[0038] The score output unit 32 is a trained model using deep learning, and has undergone supervised learning in advance using training data in which a large number of package images are used as input data and a score corresponding to each package image is used as output data. The score output unit 32 is configured to output the degree of damage D of the fruit or vegetable F as a score when a package image is input. As a result, the score output unit 32 outputs a score corresponding to the degree of damage D of the fruit or vegetable F in each package box B. In this embodiment, the score is between 0 and 1.0, and the higher the degree of damage D, the higher the score output by the score output unit 32. The degree of damage D may be determined based on all or any of the depth and size of the damage D and the number of damage D per package box B.

[0039] The loading and unloading determination unit 33 determines the loading locations and / or loading order of the multiple packing boxes B based on the scores output by the score output unit 32. In this embodiment, the loading and unloading determination unit 33 determines the loading locations and loading order based on the scores. Regarding the loading locations, the loading and unloading determination unit 33 designates the loading locations of packing boxes B with scores of 0 to less than 0.4 as the first area E1, the loading locations of packing boxes B with scores of 0.4 to less than 0.8 as the second area E2, and the loading locations of packing boxes B with scores of 0.8 to 1.0 as the third area E3. Regarding the loading and unloading order, the loading and unloading determination unit 33 determines the loading and unloading order of the multiple packing boxes B so that the boxes with the highest scores are loaded first.

[0040] The loading command unit 34 transmits to the forklift 2 a loading command including the loading order for the multiple boxes B, the position of each box B, and the storage location corresponding to each box B.

[0041] <Load handling system operation> Next, the operation of the cargo handling system S according to the first embodiment will be explained again with reference to the flow chart of FIG.

[0042] (1) First, when a truck T carrying multiple boxes B arrives (see S1 in FIG. 6), the management device 3 transmits a flight command to the unmanned aerial vehicle 1 (see S2 in FIG. 6).

[0043] (2) The unmanned aerial vehicle 1 moves to the location of the loading platform in accordance with the flight command (see S3 in FIG. 6), detects the location of the loading box B (see S4 in FIG. 6), and captures an image of the loading box B to generate a loading image (see S5 in FIG. 6). The generated loading image and the corresponding location of the loading box B are transmitted to the management device 3 (see S6 in FIG. 6).

[0044] (3) The management device 3 outputs a score corresponding to each packing box B based on the received packing image (see S7 in Figure 6), and determines the placement location and placement order of each packing box B based on the score (see S8 in Figure 6).

[0045] (4) Next, the management device 3 transmits to the forklift 2 a loading command including the loading order for the multiple boxes B, the position of each box B, and the storage location corresponding to each box B (see S9 in FIG. 6).

[0046] (5) The forklift 2 carries out the loading and unloading operation in accordance with the received loading and unloading command (see S10 in FIG. 6).

[0047] As described above, the cargo handling system S according to the first embodiment can image each container B in advance using the unmanned aerial vehicle 1 before cargo handling operations, and can preliminarily sort the fruits and vegetables F for each container B using the management device 3. This allows the cargo handling system S to feed the fruits and vegetables F from containers B that should be prioritized into the sorter in order, thereby preventing delays in the shipping of fruits and vegetables F that should be shipped earlier.

[0048] Second Embodiment Next, a second embodiment of the cargo handling system according to the present invention will be described with reference to Figures 7 to 11. Note that the description of the same configuration as in the first embodiment may be omitted.

[0049] Fig. 7 is a schematic front view of the cargo handling system S according to this embodiment. As shown in Fig. 7, the cargo handling system S includes a truck T, an unmanned aerial vehicle 1, a forklift 2, and a management device 3. A plurality of cargo boxes B are placed on the loading platform of the truck T.

[0050] Packing boxes B are grouped into groups of four and are surrounded horizontally by anti-shift material P, which prevents the packing from shifting during transport. The anti-shift material P is made of a material that is permeable to near-infrared rays. Identifiers C, which will be explained later, are printed or affixed to multiple packing boxes B. These identifiers C are covered by the anti-shift material P and are configured so that they cannot be recognized under visible light unless the anti-shift material P is removed. Furthermore, these identifiers C are made of a material that is not permeable to near-infrared rays.

[0051] As shown in FIGS. 7 and 8, the unmanned aerial vehicle 1 and the forklift 2 have the same configuration as in the first embodiment.

[0052] 9, the infrared camera 15 captures an image of a set of packing boxes B containing the cargo collapse prevention material P and generates a packing image. As in the first embodiment, the generated packing image is transmitted to the management device 3 together with the position information of the corresponding packing boxes B.

[0053] Figure 10 shows a package image generated by the infrared camera 15. As shown in Figure 10, the load-stabilizing material P transmits near-infrared light, but the identifier C does not transmit near-infrared light, so the identifier C that was covered by the load-stabilizing material P can be recognized in the package image even if the load-stabilizing material P is not removed. The identifier C is composed of a known code such as a one-dimensional code or a two-dimensional code, and contains information related to the contents of the packing box B.

[0054] <Management device> The management device 3 has the same hardware configuration as in the first embodiment and includes a computer. A cargo handling management program according to the second embodiment is stored in the storage device. The cargo handling management program causes the computer to operate as an aircraft command unit 31, a cargo handling determination unit 33, a cargo handling command unit 34, and an identifier reading unit 35, all of which will be described later.

[0055] As shown in FIG. 8, the management device 3 has, as its functional configuration, a storage unit 30, an aircraft command unit 31, a cargo handling determination unit 33, a cargo handling command unit 34, and an identifier reading unit 35.

[0056] As in the first embodiment, the storage unit 30 stores the position of the bed of the truck T parked in a predetermined truck area TE. The storage unit 30 also stores in advance information about the contents of the packing box B in association with information about the identifier C. The information about the contents of the packing box B is, for example, not limited to, the type of contents of the packing box B, the expiration date of the contents, the storage location, etc.

[0057] As in the first embodiment, when truck T arrives at truck area TE, the aircraft command unit 31 sends a flight command including the position of the loading platform to the unmanned aircraft 1 so that the unmanned aircraft 1 flies to the loading platform of truck T.

[0058] The identifier reading unit 35 refers to the load image, recognizes the identifier C included in the load image, reads the information of the identifier C, and acquires the information of the identifier C. The identifier reading unit 35 transmits the acquired information to the load handling determination unit 33.

[0059] The loading decision unit 33 receives information from the memory unit 30 regarding the contents of the container B corresponding to the information of the identifier C received from the identifier reading unit 35, and determines the loading location and loading order of the corresponding container B based on that information.

[0060] As in the first embodiment, the loading and unloading command unit 34 transmits to the forklift 2 a loading and unloading command including the loading order for the multiple boxes B, the position of each box B, and the storage location corresponding to each box B.

[0061] As in the first embodiment, the forklift 2 performs the cargo handling operation based on the received cargo handling command.

[0062] <Load handling system operation> Next, the operation of the cargo handling system S according to the second embodiment will be explained again with reference to the flow chart of FIG.

[0063] (1) First, when a truck T carrying multiple boxes B arrives (see S1 in FIG. 11), the management device 3 transmits a flight command to the unmanned aerial vehicle 1 (see S2 in FIG. 11).

[0064] (2) The unmanned aerial vehicle 1 moves to the location of the loading platform in accordance with the flight command (see S3 in FIG. 11), detects the location of the loading box B (see S4 in FIG. 11), and captures an image of the loading box B to generate a loading image (see S5 in FIG. 11). The generated loading image and the corresponding location of the loading box B are transmitted to the management device 3 (see S6 in FIG. 11).

[0065] (3) The management device 3 acquires information on the identifier C corresponding to each shipping box B based on the received shipping image (see S7 in Figure 11), and determines the loading location and loading order for each shipping box B based on the information on the contents of the shipping box B corresponding to the information on the identifier C (see S8 in Figure 11).

[0066] (4) Next, the management device 3 transmits a loading command to the forklift 2, which command includes the loading order for the multiple boxes B, the position of each box B, and the storage location corresponding to each box B (see S9 in FIG. 11).

[0067] (5) The forklift 2 carries out the loading and unloading operation in accordance with the received loading and unloading command (see S10 in FIG. 11).

[0068] As described above, the cargo handling system S according to the second embodiment can image each container B in advance of the cargo handling operation using the unmanned aerial vehicle 1, acquire information on the identifiers C using the management device 3, and determine the placement location and placement order for each container B. Moreover, the cargo handling system S can acquire information on the identifiers C without removing the container shift prevention material P from the container B by capturing an image of the identifiers C covered with the container shift prevention material P using the infrared camera 15. Therefore, even if the information on the identifiers C is intentionally hidden, for example, the cargo handling system S according to this embodiment can acquire information on the identifiers C while hiding the identifiers C.

[0069] Although the cargo handling system S, cargo handling management program, and cargo handling management method according to the above-described embodiment of the present invention have been described above, the cargo handling system, cargo handling management program, and cargo handling management method according to the present invention are not limited to the above-described embodiment. For example, the cargo handling system, cargo handling management program, and cargo handling management method according to the present invention may be implemented by the following modifications, or by combining the following modifications as appropriate.

[0070] <Modification> The infrared irradiation unit may be located inside the wing of the truck T. In this case, the infrared irradiation unit is configured to irradiate near-infrared rays toward the cargo box B below when the wing of the truck T opens. In this case, the unmanned aerial vehicle 1 does not need to have an infrared irradiation unit.

[0071] The forklift 2 may be a manned forklift 2. In this case, the unmanned aerial vehicle 1 or the forklift 2 may further have an alarm device that notifies the driver of the forklift 2 of the loading location and loading order of each box B. The alarm device may be, for example, a speaker provided on the unmanned aerial vehicle 1 or a monitor provided on the forklift 2, and is not particularly limited.

[0072] There is no particular limitation on the waiting position of the unmanned aerial vehicle 1. For example, the unmanned aerial vehicle 1 may be configured to wait inside the truck T, and when the truck T arrives at the truck area TE, fly over and capture an image of the shipping box B.

[0073] To prevent sunlight from interfering with the generation of appropriate infrared images of packages, the unmanned aerial vehicle may be configured to block sunlight using wings, for example. In this case, the angle of the wings of the wing vehicle may be configured to be adjustable. Alternatively, the unmanned aerial vehicle 1 may be configured to detect the position of each package box B and capture an image of each package box B after entering the wing vehicle and closing the wings to be confined within the wing vehicle.

[0074] The score output unit 32 may be configured to output the degree of blemish D on the fruit or vegetable F as a score based on its internal quality (sweetness, sourness, starch content, discoloration, hollowness, etc.). In this case, the score output unit 32 may further be configured to perform supervised learning in advance using training data in which a plurality of load images are input data and scores related to the internal quality corresponding to each load image are output data. When a load image is input, the score output unit 32 outputs the internal quality of the fruit or vegetable F as a score. As a result, the score output unit 32 outputs a score corresponding to the internal quality of the fruit or vegetable F in each load box B. In this case, the load handling determination unit 33 determines the load handling order and storage location of the plurality of load boxes B based on the scores corresponding to the internal quality of the fruit or vegetable F.

[0075] The angle at which the infrared camera 15 captures the image of the contents is not particularly limited in the first and second embodiments. [Explanation of symbols]

[0076] B Packing box C Identifiers E1 Area 1 E2 Area 2 E3 3rd Area D Scar F Fruits and vegetables P Cargo shift prevention material S Cargo Handling System T-track TE Track Area 1. Unmanned aerial vehicles 10 Main Unit 11 Propeller 12 Power section 13 Flight position detection unit 14 Load position detection unit 15. Infrared camera 16 Aircraft control unit 2. Forklift 20 Lifting device 21 Vehicle location detection unit 22 Drive unit 23 Vehicle control unit 3 Management device 30 Storage section 31 Aircraft Command 32 Score output section 33 Cargo Handling Decision Department 34 Cargo Handling Command 35 Identifier reading unit

Claims

1. A cargo handling system comprising a plurality of cargo boxes placed in a predetermined area and a forklift for handling the plurality of cargo boxes, an unmanned aerial vehicle having an infrared camera, which takes an image of the cargo box with the infrared camera before cargo handling to generate a cargo image; a loading / unloading determination unit that determines a loading location and / or a loading order of the packing boxes based on the packing image, The loading and unloading determination unit has a score output unit that analyzes the loading image and outputs a score, and the loading and unloading system determines the loading location and / or the loading and unloading order based on the score output by the score output unit.

2. The contents of the packing box are fruits and vegetables, The cargo handling system according to claim 1 , wherein the score output unit analyzes the cargo image and outputs a score indicating the degree of damage to the fruit or vegetable.

3. The contents of the packing box are fruits and vegetables, The cargo handling system according to claim 1 , wherein the score output unit analyzes the cargo image and outputs the degree of internal quality as a score.

4. A cargo handling system comprising a plurality of cargo boxes placed in a predetermined area and a forklift for handling the plurality of cargo boxes, an unmanned aerial vehicle having an infrared camera, which takes an image of the cargo box with the infrared camera before cargo handling to generate a cargo image; a loading / unloading determination unit that determines a loading location and / or a loading order of the packing boxes based on the packing image, An identifier relating to the contents of the packing box is displayed on the surface of the packing box, and the identifier is covered with a cargo collapse prevention material that is permeable to near-infrared rays, The infrared camera captures an image of the identifier through the load-preventing material, The loading / unloading determination unit is a loading / unloading system that determines the loading location and / or the loading order of the packing boxes based on the information contained in the identifier.

5. A cargo handling system comprising a plurality of cargo boxes placed in a predetermined area and a forklift for handling the plurality of cargo boxes, an unmanned aerial vehicle having an infrared camera, which takes an image of the cargo box with the infrared camera before cargo handling to generate a cargo image; a loading / unloading determination unit that determines a loading location and / or a loading order of the packing boxes based on the packing image; a notification unit, The notification unit notifies the operator of the forklift of the loading location and / or the loading order determined by the loading determination unit.

6. a forklift that loads and unloads boxes placed in a predetermined location; an unmanned aerial vehicle having an infrared camera, which takes an image of the contents of the packing box with the infrared camera before loading and unloading and generates a packing image; A cargo handling management program used in a cargo handling system including a computer having an arithmetic unit and a storage unit, The cargo handling management program is installed on the computer. a score output unit that analyzes the package image and outputs a score; A cargo handling management program that operates as a cargo handling determination unit that determines the loading location and / or loading order of the packing boxes based on the scores output by the score output unit.

7. A cargo handling management method used in a cargo handling system including a cargo box placed in a predetermined area, a forklift that handles the cargo box, an unmanned aerial vehicle having an infrared camera, and a cargo handling determination unit having a score output unit, Taking an image of the packing box with the infrared camera before handling and generating a packing image; The score output unit analyzes the package image and outputs a score; and determining, by the loading decision unit, the loading location and / or the loading order of the packing boxes based on the scores output by the score output unit.

Images