Load management system and load management program

Abstract

To provide a cargo management system capable of detecting a condition of contents of a cargo box before a cargo reaches an end user.SOLUTION: A cargo management system S comprises: a storage unit; and an unmanned flying object 1. The storage unit stores a position where a cargo box B is placed in advance. The unmanned flying object 1 has a transmission device 12 and flies toward a position of the cargo box B. When the unmanned flying object 1 reaches the cargo box B, it uses the transmission device 12 to scan the cargo box B and images the contents of the cargo box B to generate a content image. As a result, the system can check for any problem such as packaging state and breakage of the cargo box B in advance from the content image before the cargo handling operation. Therefore, since the cargo box B is unloaded from a load-carrying platform only after confirming that there are no problem in the packaging state and the like, troubles during cargo reception can be prevented beforehand.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a cargo management system that uses unmanned aerial vehicles and a cargo management program used in the system. [Background technology]

[0002] As disclosed in Patent Document 1, a conventional method for managing cargo involves attaching wireless tags to pallets or racks and reading the tags using a wireless tag reader provided on a forklift to manage the location of the cargo.

[0003] Patent Document 2 also discloses a luggage monitoring system that uses an unmanned aerial vehicle to monitor the status of luggage in a warehouse. In this luggage monitoring system, the unmanned aerial vehicle is equipped with a collision avoidance mechanism for avoiding collisions with obstacles in the warehouse, an imaging mechanism for acquiring image information including pallets on which luggage is placed, and a transmission mechanism for transmitting the image information. The unmanned aerial vehicle flies within the warehouse while avoiding collisions with obstacles in the warehouse using the collision avoidance mechanism, acquires image information using the imaging mechanism, and uses the acquired image information to monitor the status of the luggage. The status of the luggage includes, for example, the tilt of the luggage. The monitoring system also has a function for identifying the position of tilted luggage.

[0004] As a method for preventing damage to the contents of a package during transportation, a conventional packaging method has been known that keeps the contents in the center of the box and prevents shocks from being transmitted to the contents. However, even if the contents of the package are damaged during transportation for some reason, the invention disclosed in the above patent document cannot detect the damage. Therefore, there is a problem in that the problem with the contents of the package is discovered when the package arrives at the end user. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-112523 [Patent Document 2] Japanese Patent Application Publication No. 2018-43815 Summary of the Invention [Problem to be solved by the invention]

[0006] Therefore, the problem to be solved by the present invention is to provide a cargo management system that can detect the state of the contents of a cargo before the cargo arrives at the end user. [Means for solving the problem]

[0007] In order to solve the above problems, the cargo management system according to the present invention comprises: a memory unit that stores the position where the packing box is placed; an unmanned aerial vehicle having a penetration device and flying toward the location of the shipping box; The transmission device is configured to transmit through the shipping box to image the contents of the shipping box and generate an image of the contents.

[0008] The cargo management system preferably includes: further comprising an analysis unit; The image of the contents includes the outer frame of the shipping box. The analysis unit determines the amount of displacement of the contents from a predetermined position based on the contents image.

[0009] The cargo management system preferably includes: A forklift that handles boxes, A loading command unit that specifies a loading location for the loading box is further provided, When the identified positional deviation amount exceeds a predetermined positional deviation amount, the cargo handling command unit designates a predetermined location as the cargo storage location for the cargo box.

[0010] The cargo management system preferably includes: further comprising an analysis unit; The analysis unit determines whether the contents are a predetermined object based on the content image.

[0011] The cargo management system preferably includes: A forklift that handles boxes, A loading command unit that specifies a loading location for the loading box is further provided, When the contents are the predetermined items, the cargo handling command section designates the storage location of the packing box at a predetermined location.

[0012] The cargo management system preferably includes: Further provided with an alarm device, When the contents are the predetermined items, the notification device notifies the forklift driver that the contents are the predetermined items.

[0013] The cargo management system preferably includes: further comprising an analysis unit; The analysis unit determines whether the contents are damaged or not based on the content image.

[0014] The cargo management system preferably includes: A forklift that handles boxes, A loading command unit that specifies a loading location for the loading box is further provided, When the contents are damaged, the cargo handling command center designates a predetermined location for storing the cargo box.

[0015] The cargo management system preferably includes: The transmission device includes a millimeter wave scanner.

[0016] The cargo management system preferably includes: The transmission device includes a backscatter X-ray inspection device.

[0017] In order to solve the above problem, the cargo management program according to the present invention is a management device having a computer; an unmanned aerial vehicle having a penetration device; A load management program used in a load management system equipped with a forklift that loads and unloads load boxes, the transmission device is configured to transmit an image of the contents of the shipping box through the shipping box and generate an image of the contents including an outer frame of the shipping box; The cargo management program is installed on the computer. an analysis unit that identifies the amount of displacement of the contents from a predetermined position based on the content image; When the identified positional deviation amount exceeds a predetermined positional deviation amount, the device is operated as a cargo handling command unit that designates a cargo storage location for the cargo box at a predetermined location.

[0018] In order to solve the above problem, the cargo management program according to the present invention is a management device having a computer; an unmanned aerial vehicle having a penetration device; A load management program used in a load management system equipped with a forklift that loads and unloads load boxes, the transmission device is configured to transmit an image of the contents of the shipping box through the shipping box to generate a content image; The cargo management program is installed on the computer. an analysis unit that identifies whether the contents are a predetermined object based on the content image; When the contents are predetermined, the device is operated as a cargo handling command unit that designates the cargo storage location of the packing box as a predetermined location. [Effects of the Invention]

[0019] The cargo management system of the present invention can detect the condition of the contents before the cargo arrives at the end user. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a schematic front view of a cargo management system according to one embodiment of the present invention. [Figure 2] FIG. 2 is a schematic plan view of the cargo management system shown in FIG. [Figure 3] FIG. 1 is a block diagram of a cargo management system. [Figure 4] 10A and 10B are plan views showing images of contents, where A indicates that the contents is a gun and B indicates that the contents is a sword. [Figure 5] 1A and 1B are plan views showing images of contents, where A shows a state in which the contents are not displaced, and B shows a state in which the contents are displaced. [Figure 6] FIG. 1 is a flow chart showing the flow of the cargo management system. DETAILED DESCRIPTION OF THE INVENTION

[0021] An embodiment of the cargo management system of the present invention will be described below with reference to the accompanying drawings. Fig. 1 is a schematic front view of a cargo management system S according to one embodiment of the present invention, and Fig. 2 is a schematic plan view of the cargo management system S. Fig. 3 is a block diagram of the cargo management system S.

[0022] As shown in Figure 2, the facility according to this embodiment includes a first area E1, which is a normal storage location, a second area E2, which is a storage location when the contents I of the shipping box B may be a predetermined item, and a third area E3, which is a storage location when the contents I of the shipping box B may be damaged. The material of the shipping box B according to this embodiment is made of cardboard, but there are no particular restrictions on the material of the shipping box B according to the present invention as long as it is a material that can be permeated by a permeation device 12 (see Figure 3), which will be described later.

[0023] As shown in Figures 1 and 2, the cargo management system S includes an unmanned aerial vehicle 1, a forklift 2, and a management device 3. In this embodiment, the multiple cargo boxes B managed by the cargo management system S are multiple cargo boxes B transported by a truck T, but this is merely an example, and the cargo boxes B managed by the cargo management system S are not particularly limited. Furthermore, the cargo management system S is not particularly limited in number of unmanned aerial vehicles 1 and forklifts 2.

[0024] <Unmanned Aerial Vehicle> The unmanned aerial vehicle 1 is a type of aerial vehicle commonly referred to as a drone, and has a main body, four propellers arranged on each side of the main body, and a power unit 10 (see FIG. 3) that rotates the propellers. The unmanned aerial vehicle 1 is configured to be able to fly and hover using the propellers. The unmanned aerial vehicle 1 is also configured to be able to communicate with a management device 3.

[0025] As shown in FIG. 3, the unmanned aerial vehicle 1 further includes a flight position detection unit 11, a transmission device 12, and an aerial vehicle control unit 13.

[0026] The flight position detection unit 11 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.

[0027] The transmission device 12 has a millimeter wave scanner and is mounted on the main body. The millimeter wave scanner has an oscillator that transmits millimeter waves toward the shipping box B and a detector that detects the reflected intensity of the electromagnetic waves. The transmission device 12 uses the millimeter wave scanner to transmit through the shipping box B and capture an image of the contents I of the shipping box B, generating a contents image IP.

[0028] 4, the transmission device 12 captures an image of the shipping box B so that the content image IP includes the outer frame OF of the shipping box B. The generated content image IP is transmitted to the management device 3 together with the position information of the corresponding shipping box B.

[0029] Based on flight commands from the management device 3, which will be described later, the aircraft control unit 13 controls the power unit 10 to move the unmanned aircraft 1 above each shipping box B, and controls the transmission device 12 to generate a content image IP corresponding to each shipping box B.

[0030] <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.

[0031] 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 .

[0032] 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.

[0033] 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.

[0034] <Management device> The management device 3 has a computer, which has a storage device and an arithmetic unit. The storage device stores a cargo management program of the present invention. The cargo management program causes the computer to operate as an aircraft command unit 31, an analysis unit 32, and a cargo handling command unit 33, which will be described later.

[0035] As shown in FIG. 3, the management device 3 has, as functional components, a storage unit 30, an aircraft command unit 31, an analysis unit 32, and a cargo handling command unit 33.

[0036] The storage unit 30 stores in advance the positions at which the boxes B are to be placed. In this embodiment, each box B is placed at a predetermined position on the bed of the truck T, and the truck T stops in a predetermined truck area TE. That is, after the truck T stops, each box B is placed at the position stored in the storage unit 30.

[0037] When truck T arrives at truck area TE, aircraft command unit 31 sends flight commands including the positions of each cargo box B to unmanned aircraft 1 so that unmanned aircraft 1 flies to the positions of each cargo box B.

[0038] The analysis unit 32 determines whether the corresponding content I is a predetermined object based on each content image IP received from the unmanned aerial vehicle 1. FIG. 4 is a plan view showing the content image IP, where FIG. 4A shows that the content I is a gun, and FIG. 4B shows that the content I is a sword. In this embodiment, the predetermined object is a dangerous object such as a gun or a sword. The analysis unit 32 may, for example, determine whether the content I is a dangerous object using a rule-based algorithm, or may determine whether the content I is a dangerous object using a machine learning algorithm.

[0039] When the contents I are identified by a rule-based algorithm, the memory unit 30 may pre-store a contents image IP when the contents I are a hazardous material, and the analysis unit 32 may be configured to compare the contents image IP stored in the memory unit 30 with the contents image IP received from the unmanned aerial vehicle 1, and identify the contents I as a hazardous material based on the similarities and differences.

[0040] Alternatively, when the analysis unit 32 is configured using a machine learning algorithm, it may have a neural network using deep learning. In this case, the neural network may be configured to perform unsupervised learning in advance on a plurality of content images IP when the content I is a dangerous item, and when a content image IP received from the unmanned aerial vehicle 1 is input, to output whether the content I is a dangerous item or not.

[0041] 5A and 5B are plan views showing content images IP, in which Fig. 5A shows a state in which the content I is not displaced, and Fig. 5B shows a state in which the content I is displaced from a predetermined position. The analysis unit 32 further determines the amount of displacement CD of the content I from the predetermined position based on the content image IP, and determines whether the amount of displacement CD exceeds the predetermined amount of displacement.

[0042] 5B, the misalignment amount CD can be represented by the distance CD between the center position IC of the content I and the center position BC of the outer frame OF, and when the distance CD exceeds a predetermined distance, the misalignment amount CD may be determined to exceed a predetermined misalignment amount. However, this determination method is merely an example, and the method for determining the misalignment amount and the method for determining whether the content I has exceeded the predetermined misalignment amount are not limited to this.

[0043] The loading and unloading command unit 33 transmits a loading and unloading command including the position and placement location of the container B to the forklift 2. Furthermore, for a container B whose contents I have been identified as a specific item (a dangerous item in this embodiment), the loading and unloading command unit 33 designates a placement location within the second area E2. Furthermore, for a container B whose contents I have been identified as having a positional deviation amount exceeding a predetermined positional deviation amount, the loading and unloading command unit 33 designates a placement location within the third area E3.

[0044] The contents I of the container B placed in the second area E2 may be smuggled guns or swords. Therefore, by manually opening and inspecting the contents I, dangerous items can be detected and collected before they reach the end user.

[0045] The contents I of the shipping box B placed in the third area E3 are misaligned by more than a predetermined amount, which may mean that the contents I are damaged. Therefore, by manually opening and inspecting the contents I, it is possible to detect any damage to the contents I before they reach the end user.

[0046] Next, the operation of the cargo management system S will be explained again with reference to the flow chart of FIG.

[0047] (1) First, when a truck T carrying multiple boxes B arrives (see S61 in FIG. 6), the management device 3 transmits a flight command to the unmanned aerial vehicle 1 (see S62 in FIG. 6).

[0048] (2) The unmanned aerial vehicle 1 moves to the position of each box B in accordance with the flight command (see S63 in Figure 6), captures an image of the contents I through each box B, and generates a content image IP for each box (see S64 in Figure 6).

[0049] (3) The management device 3 analyzes the received content image IP and determines whether the content I is a specified item (hazardous material) (see S65 in Figure 6), and then determines whether the amount of positional deviation of the content I exceeds a specified amount (see S66 in Figure 6).

[0050] (4) When the contents I are not the specified items (No in S65 of FIG. 6) and the amount of positional deviation of the contents I is less than the specified amount (No in S66 of FIG. 6), the management device 3 sends a loading / unloading command to the first area E1, including the location of the shipping box B, to the forklift 2 (see S67 of FIG. 6).

[0051] (5) Furthermore, if the management device 3 determines that the content I is a predetermined item (Yes in S65 of FIG. 6), it transmits a loading command to the forklift 2 to the second area E2, which includes the location of the container B (see S68 of FIG. 6). Furthermore, if the management device 3 determines that the positional deviation of the content I exceeds a predetermined amount (Yes in S66 of FIG. 6), it transmits a loading command to the forklift 2 to the third area E3, which includes the location of the container B (see S69 of FIG. 6).

[0052] (6) The forklift 2 performs the loading / unloading operation in accordance with the received loading / unloading command (see S70 in FIG. 6).

[0053] As described above, the cargo management system S can prevent predetermined items from being handed over to end users by using the unmanned aerial vehicle 1 to capture images of each item I before cargo handling operations and detecting the predetermined items using the analysis unit 32. Furthermore, the cargo management system S can also detect damage to the contents I before the cargo is handed over to the end user by using the analysis unit 32 to detect an imbalance of the contents I above a certain level.

[0054] Although the cargo management system S and cargo management program according to one embodiment of the present invention have been described above, the cargo management system according to the present invention is not limited to the above embodiment. For example, the cargo management system S and cargo management program according to the present invention may be implemented by the following modifications, or by combining the following modifications as appropriate.

[0055] <Modification> The forklift 2 may be a manned forklift. In this case, the unmanned aerial vehicle 1 or the forklift 2 may further have an alarm device, which may notify the driver of the forklift 2 that the content I has shifted more than a predetermined amount and that the content I is a predetermined item. In this case, the management device 3 transmits data to the unmanned aerial vehicle 1 or the forklift 2 indicating that the content I has shifted more than a predetermined amount and that the content I is a predetermined item. The alarm device may have a speaker and / or a light, and may notify the driver of information about the content I by sound, light, or either of them. The method of notification by the alarm device is not particularly limited.

[0056] The waiting position of the unmanned aerial vehicle 1 is not particularly limited. 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 contents I.

[0057] The second area E2 and the third area E3 may be configured as one common area.

[0058] The transmission device 12 may include, for example, a backscatter X-ray inspection device in addition to or instead of a millimeter-wave scanner. In this case, the transmission device 12 can generate a more detailed content image IP than a millimeter-wave scanner. Therefore, the analysis unit 32 may be configured to detect whether the content I has damage, such as scratches or distortion, based on the content image IP generated by the backscatter X-ray inspection device. In this configuration, the analysis unit 32 may have a trained model that is pre-machined using images of damaged and undamaged content I, and that outputs whether the content I is damaged when the content image IP is input. In this case, the cargo management system S may operate without opening the shipping box B, assuming that the content I is damaged, or the cargo handling command unit 33 may send a cargo handling command to the forklift 2 to place the box B in the second area E2 or another area.

[0059] Furthermore, in this case, the analysis unit 32 may be configured to detect a specific object based on the content image IP. For example, the analysis unit 32 may be configured to be able to identify not only dangerous objects but also precision equipment. In this case, the analysis unit 32 may also have a trained model that has undergone machine learning in advance using images of precision equipment and images of non-precision equipment, and that is configured to output whether or not the content image IP is precision equipment when it is input. In this case, the forklift 2 or the unmanned aerial vehicle 1 may have an alarm device, and the cargo management system S may use this alarm device to notify the driver that the content I is precision equipment. This allows the driver to know that the content I is precision equipment and to perform loading and unloading operations with greater caution. The configuration of this alarm device is also not particularly limited.

[0060] The angle at which the transmission device 12 captures the image of the contents I is not particularly limited. For example, the transmission device 12 may capture the image of the contents I from the side of the packing box B. Furthermore, the transmission method by the transmission device 12 is not limited to the transmission method using the millimeter wave scanner or backscattered X-ray inspection device described above. [Explanation of symbols]

[0061] B Packing box E1 Area 1 E2 Area 2 E3 3rd Area I Contents IP Contents Image OF outer frame S cargo management system T-track TE Track Area 1. Unmanned aerial vehicles 10 Power section 11 Flight position detection unit 12 Transmission device 13 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 Analysis Department 33 Cargo Handling Command

Claims

1. A memory unit that stores the position where the packing box is placed; an unmanned aerial vehicle having a penetration device and flying toward the location of the packing box; an analysis unit, the transmission device is configured to transmit through the shipping box to capture an image of the contents of the shipping box and generate a content image; The content image includes an outer frame of the shipping box, The analysis unit is a cargo management system that identifies the amount of positional deviation of the contents from a predetermined position based on the content image.

2. a forklift that loads and unloads the container; A loading command unit that specifies a loading location for the packing box is further provided, The cargo management system according to claim 1 , wherein the cargo handling command unit designates the cargo storage location of the packing box as a predetermined location when the identified positional deviation amount exceeds a predetermined positional deviation amount.

3. The cargo management system according to claim 1 , wherein the analysis unit further determines whether the contents are a predetermined item based on the content image.

4. a forklift that loads and unloads the container; A loading command unit that specifies a loading location for the packing box is further provided, 4. A cargo management system according to claim 3, wherein the cargo handling command unit designates the storage location of the packing box as a predetermined location when the contents are the predetermined items.

5. Further provided with an alarm device, 5. The cargo management system according to claim 4, wherein the notification device notifies the driver of the forklift that the contents are the predetermined items when the contents are the predetermined items.

6. A cargo management system as described in claim 1, wherein the transmission device has a millimeter wave scanner.

7. A cargo management system as described in claim 1, wherein the transmission device has a backscatter X-ray inspection device.

8. A memory unit that stores the position where the packing box is placed; an unmanned aerial vehicle having a penetration device and flying toward the location of the packing box; an analysis unit; a forklift that loads and unloads the container; a loading command unit that specifies a loading location for the packing box, the transmission device is configured to transmit through the shipping box to capture an image of the contents of the shipping box and generate a content image; The analysis unit determines whether the contents are damaged based on the content image, The cargo handling command unit is a cargo management system that designates the cargo storage location of the packing box as a predetermined location when the contents are damaged.

9. a management device having a computer; an unmanned aerial vehicle having a penetration device; A load management program used in a load management system equipped with a forklift that loads and unloads load boxes, the transmission device is configured to transmit an image of the contents of the shipping box through the shipping box and generate a content image including an outer frame of the shipping box; The load management program is configured to: an analysis unit that identifies the amount of positional deviation of the content from a predetermined position based on the content image; a cargo management program that operates as a cargo handling command unit that designates a cargo storage location for the cargo box at a predetermined location when the identified positional deviation amount exceeds a predetermined positional deviation amount;

10. a management device having a computer; an unmanned aerial vehicle having a penetration device; A load management program used in a load management system equipped with a forklift that loads and unloads load boxes, the transmission device is configured to transmit an image of the contents of the shipping box through the shipping box to generate a content image; The load management program is configured to: an analysis unit that determines whether the contents are damaged based on the content image; A cargo management program is operated as a cargo handling command unit that designates a predetermined location for storing the packing box when the contents are damaged.

Images