Storage support system, storage support method, and program

Abstract

According to the present disclosure, at least one stowage plan is prepared which defines a position where each of at least one stowage package is to be loaded in a stowage area on the premise that content of uncertain elements pertaining to stowage of the at least one stowage package in the stowage area is each of at least one candidate, and guidance information is output which indicates, as a loading position of a designated stowage package that is one stowage package having been designated, a loading position of the designated stowage package indicated in each of the at least one stowage plan.

Description

Stowage support system, stowage support method, and recording medium

[0001] The present disclosure relates to a stowage support system, a stowage support method, and a program.

[0002] There is a demand for a technology that can efficiently load cargo into a limited area provided in a warehouse, a mobile object (such as a truck), etc. A related technology is disclosed in Patent Document 1.

[0003] In the technology disclosed in Patent Document 1, when a new baggage is sorted and detected by a baggage sensor, a predetermined sensor acquires baggage information related to the baggage and information about the available space where the baggage will be loaded. Then, the technology disclosed in Patent Document 1 creates a stowage plan for the baggage based on the acquired information. In this way, the technology disclosed in Patent Document 1 creates a stowage plan whenever a predetermined event occurs.

[0004] International Publication No. 2019 / 172194

[0005] The stowage plan is created based on a plurality of factors, i.e., the stowage plan is created by comprehensively taking into account a plurality of factors, which may include, but are not limited to, at least one of information about the stowage area, information about the cargo to be loaded, and constraints applied to the stowage.

[0006] However, there are cases where the contents of some of the multiple elements are not finalized at the stage of creating a loading plan or immediately before that stage.

[0007] For example, as in the technology disclosed in Patent Document 1, there is a case where information about stowage areas and information about loaded cargo are acquired as needed using a sensor or the like, and a stowage plan is created as needed based on the acquired information. In this case, the information about stowage areas and information about loaded cargo acquired as needed can be uncertain factors. In this technology, information about stowage areas and information about loaded cargo are acquired using a sensor, but the measurement values ​​of the sensor may contain errors (measurement errors, noise, etc.). If a stowage plan is created using values ​​that may contain such errors as definitive values, there is a risk that the created stowage plan will be unrealistic and difficult to implement.

[0008] Constraints can also be uncertain factors. Constraints are rules such as "load heavier loads lower," but there are no absolute constraints that apply in all cases, and the constraints that apply may vary from time to time. In addition, the constraints that are applied may not be determined until just before loading. Furthermore, loading workers may change the constraints that are applied while loading is in progress, depending on the situation at the time.

[0009] In such a case, for example, some of the elements will not be finalized until the stage of creating the loading plan or immediately before that. Note that the example here is merely an example.

[0010] Even when some of these multiple factors are uncertain, there is a need for a technology that can create a reasonable stowage plan and present it to stowage workers.

[0011] In view of the above-mentioned problems, one example of the objective of the present disclosure is to provide a stowage support system, a stowage support method, and a program that create a reasonable stowage plan and present it to a stowage worker even when some of the multiple elements are uncertain.

[0012] According to the present disclosure, there is provided a stowage support system having: a stowage plan creation means for creating at least one stowage plan that determines at which position within a stowage area at least one piece of stowage should be stowed, on the premise that the content of an uncertainty regarding the stowage of at least one piece of stowage into a stowage area is at least one candidate; and an output means for outputting guidance information indicating the loading position of the designated stowage, which is one designated piece of stowage, indicated in each of the at least one stowage plan.

[0013] According to the present disclosure, a loading support method is provided in which one or more computers create at least one loading plan that determines at which position within a loading area at least one of the at least one loaded cargo should be loaded, assuming that the content of the uncertainty regarding the loading of the at least one loaded cargo into the loading area is at least one candidate, and output guidance information indicating the loading position of the designated loaded cargo, which is the one designated loaded cargo, indicated in each of the at least one loading plan.

[0014] According to the present disclosure, a program is provided that causes a computer to function as: a loading plan creation means that creates at least one loading plan that determines at which position within a stowage area at least one piece of loaded cargo should be loaded, assuming that the content of the uncertainty regarding the loading of at least one piece of loaded cargo into the stowage area is at least one candidate; and an output means that outputs guidance information that indicates the loading position of the designated loaded cargo, which is one designated piece of loaded cargo, as indicated in each of the at least one stowage plan.

[0015] According to one aspect of the present disclosure, a stowage support system, a stowage support method, and a program are provided that create a reasonable stowage plan and present it to a stowage worker even when some of the multiple elements are uncertain.

[0016] FIG. 1 is a diagram showing an example of a functional block diagram of a loading support system according to the present disclosure. FIG. 2 is a flowchart showing an example of a processing flow of the loading support system according to the present disclosure. FIG. 3 is a diagram for explaining an overall image of processing executed by the loading support system according to the present disclosure. FIG. 4 is an example of a functional block diagram of a loading support system according to the present disclosure. FIG. 5 is a diagram for explaining a specific example of processing executed by the loading support system according to the present disclosure. FIG. 6 is a diagram showing an example of the hardware configuration of a loading support system according to the present disclosure. FIG. 7 is another example of a functional block diagram of a loading support system according to the present disclosure. FIG. 8 is a diagram for explaining another specific example of processing executed by the loading support system according to the present disclosure.

[0017] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In this disclosure, the drawings relate to one or more embodiments. In all drawings, similar components are designated by similar reference numerals, and descriptions thereof will be omitted as appropriate.

[0018] <Background of the embodiment of the present disclosure> The following problems often exist when loading cargo in warehouses, trucks, etc. (1) The method of loading cargo is determined subjectively. (2) There is waste in the method of loading cargo (loading efficiency). (3) The order in which cargo is removed is not taken into consideration when loading cargo. (4) Information about cargo and storage locations (shape, size, etc.) may not be collected in advance. (5) Rules for how cargo is placed (loading plan constraints) may not be determined in advance.

[0019] The problems (1) to (3) can be solved by widely known techniques for creating stowage plans. Such techniques are disclosed in, for example, Japanese Patent Application Laid-Open Nos. 2020-015574, 2006-273464, and 2007-314270, in addition to the technique disclosed in Patent Document 1.

[0020] The problems in (4) and (5) are the aforementioned "problems of uncertainty in that the content of some of the multiple elements is not determined at the stage of creating the loading plan or immediately before that stage."

[0021] Problem (4) can be addressed by acquiring information about the loading destination area and the loaded cargo using sensors or the like as needed, and creating a stowage plan based on the acquired information, as in the technology disclosed in the aforementioned Patent Document 1. However, creating a stowage plan that involves dynamic measurements presents the following new challenges.

[0022] (6) It is necessary to take measures against errors (measurement errors, noise, etc.) that occur when measuring the loading situation and empty space. These effects can lead to the generation of stowage plans that are difficult to implement.

[0023] (7) A means of communicating dynamically generated loading plans to workers is required. If the loading plan is generated in advance, it is possible to communicate the plan to each worker in advance or print it out and bring it to the site, but if the plan is generated dynamically, a means of checking it on the spot is required.

[0024] Each of the several embodiments of the present disclosure described below solves at least part of the problems exemplified herein.

[0025] <First embodiment> Fig. 1 is a functional block diagram showing an overview of a stowage support system 10. As shown in Fig. 1, the stowage support system 10 has a stowage plan creation unit 11 and an output unit 12.

[0026] The stowage plan preparation unit 11 prepares a stowage plan that determines at what position within a stowage area each of at least one cargo item is to be stowed. The stowage plan preparation unit 11 prepares at least one stowage plan on the premise that the content of the uncertainty element regarding the stowage is each of at least one candidate. For example, the stowage plan preparation unit 11 prepares multiple stowage plans on the premise that the content of the uncertainty element is each of multiple candidates.

[0027] The output unit 12 outputs guidance information indicating the loading position of a designated stowage, which is one designated stowage. The output unit 12 outputs guidance information indicating the "loading position of the designated stowage" indicated in at least one stowage plan as the loading position of the designated stowage. For example, the output unit 12 outputs guidance information indicating the "loading position of the designated stowage" indicated in each of a plurality of stowage plans as the loading position of the designated stowage.

[0028] The flowchart in Figure 2 shows an example of the flow of processing executed by the stowage support system 10. As shown in Figure 2, after the stowage plan creation unit 11 performs the processing to create the stowage plan described above (S10), the output unit 12 performs the processing to provide information on the loading positions of the designated stowage cargoes described above (S11).

[0029] In this manner, the stowage support system 10 of this embodiment creates at least one (e.g., multiple) stowage plans on the premise that the content of the stowage-related uncertainties is at least one (e.g., multiple) candidate for each. Then, the stowage support system 10 provides guidance on the loading positions of the designated stowage indicated in each of the at least one (e.g., multiple) stowage plans created as the stowage plan. For example, the guidance provides the same number of positions as the number of created stowage plans as the loading positions of the designated stowage. The stowage worker can find the optimal loading position from the at least one (e.g., multiple) positions provided and load the designated stowage there.

[0030] If no stowage plan is prepared when there are uncertainties, stowage support cannot be provided. The stowage support system 10, which executes the above-described processing, can prepare a reasonable stowage plan even when there are uncertainties, and provide reasonable guidance to stowage workers.

[0031] <Second Embodiment> "Overview" The stowage support system 10 of the second embodiment is a specific implementation of the configuration of the stowage support system 10 of the first embodiment. In the "Overview" section, an overview of the processes performed by the stowage support system 10 will be explained using FIG. 3. Details of each process will be explained in the "Functional Configuration" section below. The stowage support system 10 can be used in a variety of industries and locations where cargo is stored, but here, an example of application to a transport truck will be taken up as a representative example.

[0032] First, the wording shown in FIG. 3 will be explained.

[0033] The "loading area 50" is a location where cargo is loaded. The loading area 50 may be empty, or may be partially filled with cargo or other objects. The loading area 50 may be, but is not limited to, an internal area of ​​a specified building such as a warehouse, an internal area of ​​a specified room such as a supply room, or an internal area of ​​the loading platform of a mobile object such as a transport truck.

[0034] The "loaded luggage 60" is luggage to be loaded into the loading area 50. There are no particular limitations on the shape, size, type, etc. of the loaded luggage 60. In one example, the loaded luggage 60 is a rectangular box-shaped luggage, but is not limited to this.

[0035] The "loading worker" is a worker who loads the cargo 60 into the loading area 50.

[0036] The "unloading worker" is a worker who removes the loaded cargo 60 from the loading area 50.

[0037] The "empty space information measuring instrument 30" measures the shape and size of the empty space in the stowage area 50. The empty space information measuring instrument 30 is realized by any widely known technology. For example, the empty space information measuring instrument 30 can be realized by combining various 3D (three dimensions) sensors, stereo cameras, RGB (red green blue) cameras, depth inference technology, etc., but is not limited to these. Examples of various 3D sensors include, but are not limited to, LiDAR (light detection and ranging) and ToF (time of flight) cameras.

[0038] The "loaded luggage information measuring instrument 40" measures the shape and size of the loaded luggage 60. The loaded luggage information measuring instrument 40 can be realized by any well-known technology. For example, the loaded luggage information measuring instrument 40 can be realized by combining various 3D sensors, stereo cameras, RGB cameras, depth inference technology, etc., but is not limited to these. The loaded luggage information measuring instrument 40 may also measure other items such as weight.

[0039] The "UI terminals 70 and 80" are terminals used by workers. The UI terminals 70 and 80 may be portable terminals. Furthermore, the UI terminals 70 and 80 may be terminals installed in the stowage area 50. The UI terminals 70 and 80 have communication functions, input / output functions, calculation functions, etc. The UI terminals 70 and 80 are, but are not limited to, smartphones, tablet terminals, mobile phones, wearable terminals, notebook PCs (personal computers), desktop PCs, projectors, etc. Examples of wearable terminals include, but are not limited to, smart watches and AR (augmented reality) glasses.

[0040] The stowage worker may operate one or more UI terminals 70. That is, the stowage worker may operate one UI terminal 70 to perform all operations such as displaying and inputting information. Alternatively, the stowage worker may operate multiple UI terminals 70 to perform operations such as displaying and inputting information. For example, the UI terminal 70 that displays information and the UI terminal 70 that performs input operations may be separate terminals.

[0041] Similarly, the unloading worker may operate one or more UI terminals 80. That is, the unloading worker may operate one UI terminal 80 to perform all tasks such as displaying and inputting information. Alternatively, the unloading worker may operate multiple UI terminals 80 to perform tasks such as displaying and inputting information. For example, the UI terminal 80 that displays information and the UI terminal 80 that performs input tasks may be separate terminals.

[0042] Next, an overview of the processing performed by the stowage support system 10 will be explained. The purpose here is to provide an overview of the processing performed by the stowage support system 10. As mentioned above, details of each processing will be explained in the "Functional Configuration" section below. The stowage support system 10 executes the following processing 1 to 6. The stowage support system 10 functions as a server in a client-server system. The stowage support system 10 may be a cloud server or a server installed in a worker's office, etc.

[0043] (Process 1) The stowage support system 10 can accept input of empty space information indicating the shape and size of the empty space in the stowage area 50.

[0044] (Process 2) The stowage assistance system 10 can receive input of stowage information indicating the shape and size of at least one stowage item 60 .

[0045] (Process 3) Process 3 is performed after Process 1 and Process 2. Based on the empty space information input in Process 1 and the loaded cargo information input in Process 2, the stowage support system 10 can create a stowage plan that determines the location in the empty space in the stowage area 50 at which each of at least one loaded cargo 60 should be loaded.

[0046] (Process 4) Process 4 is performed after Process 3. The stowage support system 10 can receive an input specifying one piece of luggage 60 to be loaded into the stowage destination area 50. When the stowage support system 10 receives an input specifying one piece of luggage 60, it can output guidance information indicating the loading position of the piece of luggage 60. This guidance information is displayed by the UI terminal 70.

[0047] (Process 5) Process 5 is performed after Process 4. The stowage support system 10 can receive input of result information indicating the actual loading position of one piece of cargo 60 specified in Process 4. The stowage support system 10 can register the acquired result information.

[0048] (Process 6) Process 6 is performed after Process 5. The stowage support system 10 can receive an input specifying one piece of cargo 60 to be removed from the stowage area 50. When the stowage support system 10 receives an input specifying one piece of cargo 60, it can identify the loading position of the piece of cargo 60 and output guidance information indicating the identified position. This guidance information is displayed by the UI terminal 80.

[0049] In process 2, the stowage support system 10 may accept input of stowage information for a plurality of stowed luggage 60. Then, in process 3, the stowage support system 10 may create a stowage plan that determines the stowage position of each of the plurality of stowed luggage 60 based on the available space information at that time and the information on the plurality of stowed luggage. Then, in process 4, the stowage support system 10 may accept designation of one of the plurality of stowed luggage 60 for which stowage information was acquired in process 2, and output guidance information indicating the loading position of the designated stowed luggage 60.

[0050] As another example, in process 2, the stowage support system 10 may accept input of stowage information for one piece of stowed luggage 60. Then, in process 3, the stowage support system 10 may create a stowage plan that determines the stowage position of the one piece of stowed luggage 60 based on the available space information at that time and the information for that piece of stowed luggage. Then, in process 4, the stowage support system 10 may accept the designation of one piece of stowed luggage 60 for which stowage information was acquired in process 2, and output guidance information indicating the loading position of the designated piece of stowed luggage 60.

[0051] "Functional Configuration" Next, the functional configuration of the stowage support system 10 will be described in detail. Figure 4 shows an example of a functional block diagram of the stowage support system 10. As shown in the figure, the stowage support system 10 has a stowage plan creation unit 11, an output unit 12, an empty space information acquisition unit 13, a stowed cargo information acquisition unit 14, a priority cargo calculation unit 15, a stowage candidate position calculation unit 16, an error reflection model storage unit 18, a stowage plan generation algorithm selection unit 20, a cargo search unit 21, and a stowage plan storage unit 22.

[0052] (Process 1) The above-described process 1 is executed by the empty space information acquisition unit 13. The empty space information acquisition unit 13 acquires empty space information indicating the shape and size of empty spaces in the stowage area 50.

[0053] The empty space information indicates the position (X, Y, Z) and size (width, depth, height) of the empty space in the stowage area 50. Depending on how full the stowage area 50 is with cargo, the shape of the empty space may be complex. The shape of the empty space can be expressed in various ways, such as by managing it as a combination of multiple rectangular parallelepipeds, or by expressing the entire space as a three-dimensional voxel and expressing the filled or not filled state with a value.

[0054] The vacant space information acquisition unit 13 acquires vacant space information input from an external source. As an example, vacant space information measured by the vacant space information measuring instrument 30 may be input to the stowage support system 10. For example, the vacant space information measuring instrument 30 and the stowage support system 10 may be configured to be able to communicate with each other. The vacant space information measured by the vacant space information measuring instrument 30 may be transmitted from the vacant space information measuring instrument 30 to the stowage support system 10. The vacant space information measured by the vacant space information measuring instrument 30 may be input to another terminal, and the vacant space information may be transmitted from the other terminal to the stowage support system 10. Examples of other terminals include, but are not limited to, smartphones, tablet terminals, mobile phones, wearable terminals, personal computers, and portable storage terminals.

[0055] Furthermore, vacant space information may be generated by means other than measurement by the vacant space information measuring instrument 30 and input to the stowage support system 10. For example, an operator may identify vacant space information by any means and input the identified vacant space information to the stowage support system 10. For example, if the stowage area 50 is empty, the operator can input the known shape and size of the stowage area 50 as the shape and size of the vacant space to the stowage support system 10. Furthermore, if the shape and size of the stowage area 50 have been registered in the stowage support system 10, the operator may input that the entire stowage area 50 is vacant space. In response to this input, the vacant space information acquisition unit 13 can acquire the previously registered shape and size of the stowage area 50 as vacant space information. Various inputs by the operator to the stowage support system 10 are realized via any input device, such as a keyboard, a touch panel, physical buttons, a microphone, or a mouse.

[0056] Note that Figure 4 shows two means for inputting vacant space information. Specifically, it shows a means for inputting vacant space information measured by the vacant space information measuring instrument 30 and a means for inputting vacant space information determined by other methods. The stowage support system 10 may be configured to be able to execute only one of these. Alternatively, the stowage support system 10 may be configured to be able to execute both. In the latter case, the operator can input vacant space information into the stowage support system 10 using either of the two input means of his choice. Furthermore, the stowage support system 10 may be configured to accept input of vacant space information by other means.

[0057] (Process 2) The above-described process 2 is executed by the loaded luggage information acquisition unit 14. The loaded luggage information acquisition unit 14 acquires loaded luggage information indicating the shape and size of the loaded luggage 60. The loaded luggage information acquisition unit 14 acquires loaded luggage information regarding at least one (one or more) loaded luggage 60 to be loaded into the stowage area 50.

[0058] The size of the loaded luggage 60 is expressed in a manner that corresponds to the shape of the loaded luggage 60. For example, if the shape of the loaded luggage 60 is a quadrangular prism such as a rectangular parallelepiped, its size is expressed, for example, as (Width, Depth, Height). Also, if the shape of the loaded luggage 60 is a cylinder, its size is expressed, for example, as (Radius, Height). If the shape of the loaded luggage 60 is a cylinder, its size may be expressed as the size of an imaginary rectangular parallelepiped circumscribing the cylinder.

[0059] The loaded luggage information may include other information such as an identifier for distinguishing the multiple loaded luggage 60 from one another, weight, destination, luggage type, etc.

[0060] The stowage information acquisition unit 14 acquires stowage information input from an external source. As an example, stowage information measured by a stowage information measuring instrument 40 may be input to the stowage support system 10. For example, the stowage information measuring instrument 40 and the stowage support system 10 may be configured to be able to communicate with each other. The stowage information measured by the stowage information measuring instrument 40 may be transmitted from the stowage information measuring instrument 40 to the stowage support system 10. The stowage information measured by the stowage information measuring instrument 40 may be input to another terminal, and the stowage information may be transmitted from the other terminal to the stowage support system 10. Examples of other terminals include, but are not limited to, smartphones, tablet terminals, mobile phones, wearable terminals, personal computers, and portable storage terminals.

[0061] In addition, loading luggage information may be generated by means other than measurement by the loading luggage information measuring instrument 40 and input to the stowage support system 10. For example, a worker may identify loading luggage information by any means and input the identified loading luggage information to the stowage support system 10. For example, the worker may measure the shape, size, weight, etc. of the loaded luggage 60 himself. Alternatively, if the loading luggage information of each loaded luggage 60 is registered in a database in advance, the worker may identify the loading luggage information of the loaded luggage 60 by checking the registered information in the database. At any stage before stowage, the shape, size, weight, etc. of each loaded luggage 60 may be measured by any means and registered in the database. For example, in a luggage transportation service, the shape, size, weight, etc. of the luggage are identified when the luggage is received from a customer and registered in the database. At the same time, the identifier, destination, luggage type, etc. are also registered in the database. Various inputs by the worker to the stowage support system 10 are realized via any input device, such as a keyboard, touch panel, physical buttons, microphone, mouse, etc.

[0062] Note that Figure 4 shows two input means for loading cargo information. Specifically, it shows a means for inputting loading cargo information measured by the loading cargo information measuring instrument 40 and a means for inputting loading cargo information determined by other methods. The stowage support system 10 may be configured to be able to perform only one of these. Alternatively, the stowage support system 10 may be configured to be able to perform both. In the latter case, the operator can input the loading cargo information into the stowage support system 10 using either of the two input means of his / her choice. Furthermore, the stowage support system 10 may be configured to accept input of the loading cargo information by other means.

[0063] (Process 3) The above-described process 3 is executed by the stowage plan creation unit 11. Based on the empty space information and the loaded cargo information, the stowage plan creation unit 11 creates a stowage plan that determines the location in the empty space of the stowage destination area 50 at which each of at least one (one or more) loaded cargo items 60 indicated by the loaded cargo information should be loaded.

[0064] The stowage plan preparation unit 11 prepares at least one stowage plan on the premise that the content of the uncertainty regarding stowage is at least one candidate. For example, the stowage plan preparation unit 11 prepares multiple stowage plans on the premise that the content of the uncertainty is each of multiple candidates. If there are M (M is an integer of 1 or more) candidates for the content of the uncertainty, the stowage plan preparation unit 11 can prepare M stowage plans.

[0065] The uncertainties are at least one of the following: (Uncertainty 1) Whether there is an error in the empty space information, and the details of the error in the empty space information; (Uncertainty 2) Whether there is an error in the loaded baggage information, and the details of the error in the loaded baggage information; (Uncertainty 3) Constraints applied to the loading of the loaded baggage 60.

[0066] The following are examples of candidates for the content of uncertainty 1: (Candidate 1-1) No error. (Candidate 1-2) Error. The error content is Width + α １ (Candidate 1-3) There is an error. The error is Width-α １ (Candidate 1-4) There is an error. The error is Depth + β １ (Candidate 1-5) There is an error. The error is Depth-β １ (Candidate 1-6) There is an error. The error is Height + γ １ (Candidate 1-7) There is an error. The error is Height - γ １ .

[0067] Although not shown here, other candidates are also possible, such as candidates that contain errors in multiple of Width, Depth, and Height. Also, the error content is the error in Width, but the error content (α １ There may be multiple candidates with different values ​​of Depth and Height.

[0068] The following are examples of candidates for the content of uncertainty 2: (Candidate 2-1) No error. (Candidate 2-2) Error. The error content is Width + α ２ (Candidate 2-3) There is an error. The error is Width - α ２(Candidate 2-4) There is an error. The error is Depth + β ２ (Candidate 2-5) There is an error. The error is Depth-β ２ (Candidate 2-6) There is an error. The error is Height + γ ２ (Candidate 2-7) There is an error. The error is Height - γ ２ .

[0069] Although not shown here, other candidates are also possible, such as candidates that contain errors in multiple of Width, Depth, and Height. Also, the error content is the error in Width, but the error content (α ２ There may be multiple candidates with different values ​​of (Width, Depth, Height). The same applies to Depth and Height. In addition, although the example here has been described where the size of the loaded cargo 60 is expressed by (Width, Depth, Height), if the size is expressed by other means such as (Radius, Height), the elements included in that means (Radius, Height, etc.) may contain errors.

[0070] The following are examples of candidates for the content of uncertainty element 3: (Candidate 3-1) No constraints. (Candidate 3-2) The heavier the luggage, the lower it is loaded. (Candidate 3-3) The larger the volume of luggage, the lower it is loaded. (Candidate 3-4) Luggage with the same destination is loaded close together. (Candidate 3-5) Luggage with the same type of luggage is loaded close together.

[0071] In this way, the candidates for the content of uncertainty 3 are the constraint conditions that can be applied. Note that the constraint conditions exemplified here are merely examples and are not limited to the examples given here. Other examples include, for example, "heavier luggage should be stacked lower than lighter luggage" and "no luggage should be stacked on top of luggage with an uneven top surface." Furthermore, one constraint condition may include multiple conditions. Multiple conditions included in one constraint condition are connected by a predetermined logical operator such as "and" or "or." An example of such a constraint condition is "heavier luggage should be stacked lower, and luggage with the same destination should be stacked nearby."

[0072] Next, a method for creating a stowage plan will be described.

[0073] When the content of an uncertainty element is each of a plurality of candidates, at least one (e.g., a plurality) error reflection models for calculating the content of the uncertainty element are stored in advance in the error reflection model storage unit 18. The stowage plan preparation unit 11 uses the error reflection model to determine the content of the uncertainty element when the content of the uncertainty element is each of a plurality of candidates. Then, the stowage plan preparation unit 11 prepares a stowage plan based on the determined content.

[0074] An example will now be described using Figure 5. In the example of Figure 5, the uncertain factors are "whether there is an error in the empty space information and the content of the error in the empty space information." Three error reflection models 1 to 3 are stored in the error reflection model storage unit 18. Note that the number of error reflection models is not limited to the example given here.

[0075] The error reflection model 1 executes the error reflection process on the premise that there is no error in the empty space information, and outputs the empty space information after the process. ０ , Depth ０ , Height ０ ), the error reflection model 1 is (Width ０ , Depth ０ , Height ０ ) is output.

[0076] The error reflection model 2 is that there is an error in the empty space information, and the error is that the height is γ １ The error reflection process is performed on the premise that the width is "high" and the empty space information after the process is output. ０ , Depth ０ , Height ０ ), the error reflection model 2 is (Width ０ , Depth ０ , Height ０ -γ １ ) is output.

[0077] Error reflection model 3 is "There is an error in the empty space information, and the error content is that the width is α １The error reflection process is performed on the premise that the empty space is narrow, and the empty space information after the process is output. ０ , Depth ０ , Height ０ ), the error reflection model 3 is (Width ０ +α １ , Depth ０ , Height ０ ) is output.

[0078] For example, in each error reflection model, correction information (dW, dD, dH) is set. The combination of dW, dD, and dH differs for each error reflection model. Each error reflection model is set based on the empty space information acquired by the empty space information acquisition unit 13 (Width ０ , Depth ０ , Height ０ ), then (Width ０ +dW, Depth ０ +dD, Height ０ +dH).

[0079] After correcting the empty space information using the error reflection model, the stowage plan creation unit 11 creates a stowage plan for the case where the empty space information is the content output from each of the error reflection models 1 to 3, as shown in Figure 5. In Figure 5, empty space information after error reflection processing is output from each of the three error reflection models 1 to 3, and three stowage plans corresponding to each of them are created. As described above, the content of the empty space information after error reflection processing output from each of the three error reflection models 1 to 3 may differ from one another, and therefore, as shown in Figure 5, the contents of the created stowage plans may differ from one another. The stowage plan indicates which cargo 60 (identifier, width, depth, height) is to be loaded into which position (X, Y, Z) of the empty space.

[0080] So far, we have explained the processing when the uncertainties are "whether there is an error in the vacant space information and the details of the error in the vacant space information." The same processing is performed when the uncertainties are "whether there is an error in the loaded baggage information and the details of the error in the loaded baggage information." That is, each error reflection model corrects the size of the loaded baggage 60 indicated by the loaded baggage information through the same processing. Then, the stowage plan creation unit 11 creates a stowage plan based on the corrected size of the loaded baggage 60. When the uncertainties are "constraint conditions applied to the stowage of the loaded baggage 60," each error reflection model indicates the constraint conditions to be applied. Note that there may also be an error reflection model that specifies "no constraint conditions are applied."

[0081] After determining the content of the uncertainties using the error reflection model, the stowage plan preparation unit 11 can prepare a stowage plan using any known technology. The stowage plan preparation unit 11 can prepare a stowage plan, for example, so as to reduce the remaining space (so as to increase the total volume of the loaded cargo 60). If there are constraints, the stowage plan preparation unit 11 can prepare a stowage plan so as to satisfy the constraints. In addition to the constraints described above, possible constraints include the order in which the loaded cargo 60 is placed, but are not limited to these. Furthermore, the stowage plan preparation unit 11 may take into account the horizontal rotation of the loaded cargo 60 (interchanging the width and depth). If the loaded cargo 60 is allowed to be placed vertically, the stowage plan preparation unit 11 may take into account the vertical rotation of the loaded cargo 60.

[0082] Various algorithms for creating a stowage plan, such as the Deepest Bottom Left method, have been researched and published. The stowage plan creation unit 11 can create a stowage plan by any method.

[0083] The stowage plan generation unit 11 may be configured to be able to execute a plurality of algorithms. The stowage plan generation unit 11 may then create a stowage plan by a means selected from the plurality of algorithms. The selection of the algorithm can be executed by the stowage plan generation algorithm selection unit 20 (see FIG. 4 ). The stowage plan generation algorithm selection unit 20 may select an algorithm randomly or according to a predetermined rule. For example, the stowage plan generation algorithm selection unit 20 may select an algorithm according to the type and shape of the cargo 60 to be loaded. In this case, the stowage plan generation algorithm selection unit 20 can select an algorithm based on "information indicating the correspondence between the type and shape of the cargo 60 to be loaded and the optimal algorithm in that case" that has been created in advance.

[0084] At least one (for example, multiple) stowage plans created by the stowage plan creation unit 11 are stored in the stowage plan storage unit 22 (see FIG. 4).

[0085] In this way, the stowage plan creation unit 11 can determine the shape and size of the vacant space when the content of the uncertainty factor regarding the vacant space information is each of at least one candidate based on at least one error reflection model.The stowage plan creation unit 11 can then create at least one stowage plan based on each of the calculated at least one shape and size of the vacant space.

[0086] Similarly, the stowage plan preparation unit 11 can calculate the shape and size of the loaded cargo 60 when the content of the uncertainty element regarding the loaded cargo information is each of at least one candidate, based on at least one error reflection model. Then, the stowage plan preparation unit 11 can prepare at least one stowage plan based on each of the calculated at least one shape and size of the loaded cargo 60.

[0087] The staging plan preparation unit 11 can also determine the content of uncertainties related to constraint conditions based on at least one error reflection model, and can create at least one staging plan based on the determined constraint conditions.

[0088] (Process 4) The above-described process 4 is executed by the candidate stowage position calculation unit 16 and the output unit 12. The candidate stowage position calculation unit 16 can receive input specifying one loaded baggage 60 to be loaded into the stowage destination area 50. Hereinafter, the loaded baggage 60 specified here will be referred to as a "designated stowed baggage." One of at least one loaded baggage 60 for which the loaded baggage information acquisition unit 14 has acquired loaded baggage information is designated as the designated stowed baggage.

[0089] The stowing worker operates the UI terminal 70 to designate the next cargo 60 to be loaded into the stowing area 50. This designation can be realized by any means.

[0090] For example, the stowing worker may input into the UI terminal 70 the identifier of the next loaded baggage 60 to be loaded into the destination area 50. This input may be realized by any means, such as reading a code indicating the identifier, directly inputting the identifier, or inputting the identifier by voice. Alternatively, the stowing worker may select the next loaded baggage 60 to be loaded into the destination area 50 from among the multiple loaded baggage 60 displayed on the UI terminal 70. The stowage support system 10 can selectably display on the UI terminal 70 the identifier of the loaded baggage 60 that has not yet been loaded into the destination area 50 at that time, among at least one loaded baggage 60 for which the loaded baggage information acquisition unit 14 has acquired the loaded baggage information.

[0091] In addition, when loading information for one loaded baggage 60 is input in process 2, the loading baggage information acquisition unit 14 may automatically specify the loaded baggage 60 corresponding to that one loaded baggage information. In this case, input by a loading worker may be unnecessary.

[0092] Furthermore, if the stowing worker is not aware of the next stowage 60 to be loaded into the stowage area 50, he or she may operate the UI terminal 70 to inquire of the stowage support system 10 about the next stowage 60 to be loaded. In response to the inquiry, the priority cargo calculation unit 15 determines at least one candidate for the next stowage 60 to be loaded into the stowage area 50 and presents it to the stowage worker via the output unit 12 and the UI terminal 70. The stowage worker may then specify one stowage 60 to be loaded next from the at least one candidate for the stowage 60 presented by the stowage support system 10.

[0093] The priority baggage calculation unit 15 can use any means to determine at least one candidate for the next loaded baggage 60 to be loaded into the loading destination area 50. For example, the priority baggage calculation unit 15 may determine a predetermined number (any number greater than or equal to one) of loaded baggage 60 in descending order of weight as the next loaded baggage 60. Alternatively, the priority baggage calculation unit 15 may determine at least one loaded baggage 60 that needs to be loaded near the most recently loaded baggage 60 in accordance with constraints as the next loaded baggage 60. Alternatively, the priority baggage calculation unit 15 may randomly determine at least one loaded baggage 60 as the next loaded baggage 60. For example, the priority baggage calculation unit 15 may determine the next loaded baggage 60 under the condition that the next loaded baggage 60 is free.

[0094] When the stowage candidate position calculation unit 16 receives an input specifying one stowage baggage 60, it causes the output unit 12 to output guidance information indicating the loading position of the specified stowage baggage. This guidance information is displayed by the UI terminal 70.

[0095] The loading candidate position calculation unit 16 creates guidance information based on the “loading position (X, Y, Z) of the designated loading cargo” indicated in at least one loading plan created by the loading plan creation unit 11, and outputs the information to the output unit 12.

[0096] As explained in process 3, the stowage plan preparation unit 11 prepares at least one (e.g., multiple) stowage plans on the premise that the content of each of the uncertainties is at least one (e.g., multiple) candidate. Therefore, the stowage candidate position calculation unit 16 causes the output unit 12 to output guidance information indicating the "loading positions of designated stowage cargoes" indicated in each of at least one (e.g., multiple) stowage plans as the loading positions of the designated stowage cargoes. When the stowage plan preparation unit 11 prepares M stowage plans (M is an integer equal to or greater than 1), the guidance information indicates M "loading positions of designated stowage cargoes."

[0097] An example of the guidance information is shown in FIG. 5 . In FIG. 5 , an example of the guidance information is shown on the display of the UI terminal 70. The guidance information shows the current state of the vacant space in the stowage area 50 (the loading status of cargo). Furthermore, in the guidance information, positions indicated by solid colors are shown as loading positions of designated stowage cargo. Specifically, the guidance information in FIG. 5 shows the loading positions of designated stowage cargo indicated in each of the three stowage plans created based on the error reflection models 1 to 3. Note that, although FIG. 5 shows the loading positions of designated stowage cargo indicated in each of the three stowage plans at once on the screen, other methods of display may also be used. For example, the loading positions of designated stowage cargo indicated in each of the three stowage plans may be displayed one by one in sequence.

[0098] (Process 5) The above-described process 5 is executed by the candidate stowage position calculation unit 16. The candidate stowage position calculation unit 16 can receive input of result information indicating the position at which the designated stowage cargo was actually loaded. For example, the candidate stowage position calculation unit 16 can receive input of result information indicating at which of the "at least one loading position for the designated stowage cargo" output by the output unit 12 in process 4 the designated stowage cargo was loaded.

[0099] The stowage candidate position calculation unit 16 may also receive input of result information that further indicates the reason why the designated stowage cargo was loaded at the position indicated by the result information. The reason may be, for example, "it was not possible to load it at any other position indicated in the guidance information." The stowage candidate position calculation unit 16 can register the acquired result information in the stowage support system 10.

[0100] The stowage candidate position calculation unit 16 can accept input of the result information using any means. The stowage worker may operate the UI terminal 70 to input the result information and transmit it to the stowage support system 10. For example, the stowage worker may operate the UI terminal 70 to select a position where the designated stowage cargo was actually loaded from at least one loading position indicated in the guidance information output in process 4 (see FIG. 5 ). The stowage worker may also operate the UI terminal 70 to select at least one reason from the options of reasons displayed on the UI terminal 70. For example, multiple default reasons may be prepared in advance, such as "It was not possible to load at the other positions indicated in the guidance information" or "It was possible to load at other positions indicated in the guidance information, but this position was selected." The stowage support system 10 may then present the stowage worker with a selectable number of the prepared reasons via the UI terminal 70.

[0101] The stowage worker repeats steps 4 and 5 to load at least one piece of cargo 60 into the empty space in the stowage area 50. Then, result information indicating the actual loading position of each piece of cargo 60 is accumulated in the stowage support system 10.

[0102] (Process 6) The above-described process 6 is executed by the baggage search unit 21 and the output unit 12. The baggage search unit 21 can receive an input specifying one loaded baggage 60 to be removed from the stowage area 50.

[0103] The unloading worker operates the UI terminal 80 to specify, for example, the next loaded baggage 60 to be removed from the loading destination area 50. This specification can be realized by any means.

[0104] For example, the unloading worker may input into the UI terminal 80 the identifier of the next loaded baggage 60 to be removed from the stowage area 50. This input may be realized by any means, such as reading a code indicating the identifier, directly inputting the identifier, or inputting the identifier by voice. Alternatively, the unloading worker may select the next loaded baggage 60 to be removed from the stowage area 50 from among the multiple loaded baggage 60 displayed on the UI terminal 80. The stowage support system 10 can selectably display on the UI terminal 80 the identifier of at least one loaded baggage 60 currently loaded in the stowage area 50.

[0105] When the luggage search unit 21 receives an input specifying one loaded luggage 60, it identifies the loading position of the loaded luggage 60 and causes the output unit 12 to output guidance information indicating the identified position. The loading position of the loaded luggage 60 is identified based on the result information accumulated in the stowage support system 10 in, for example, the above-mentioned process 5.

[0106] The guidance information output by the baggage search unit 21 is displayed on the UI terminal 80. The stowage support system 10 can identify the loading position of the specified one piece of loaded baggage 60 based on the result information acquired in process 5.

[0107] An example of guidance information output by the baggage search unit 21 is shown in Fig. 4. The image linked to the phrase "Visualization of Pickup Items" in Fig. 4 is an example of guidance information output by the baggage search unit 21. The guidance information shows the loading status of at least one loaded baggage 60 in the stowage area 50 at that time, and also shows the position of the loaded baggage 60 specified by filling in color.

[0108] "Hardware Configuration" Next, an example of the hardware configuration of the stowage support system 10 will be described. Each functional unit of the stowage support system 10 is realized by any combination of hardware and software. Those skilled in the art will understand that there are many variations in the realization method and device. Software includes programs that are pre-loaded in the device before shipping, and programs downloaded from recording media such as CDs (Compact Discs) or servers on the Internet.

[0109] FIG. 6 is a block diagram illustrating an example of the hardware configuration of the stowage support system 10. As shown in FIG. 6, the stowage support system 10 has a processor 1A, memory 2A, an input / output interface 3A, a peripheral circuit 4A, and a bus 5A. The peripheral circuit 4A includes various modules. The stowage support system 10 does not necessarily have to have the peripheral circuit 4A. The stowage support system 10 may be composed of multiple devices that are physically and / or logically separated. In this case, each of the multiple devices can have the above hardware configuration.

[0110] The bus 5A is a data transmission path for the processor 1A, memory 2A, peripheral circuit 4A, and input / output interface 3A to mutually transmit and receive data. The processor 1A is, for example, a processing unit such as a CPU or a graphics processing unit (GPU). The memory 2A is, for example, a random access memory (RAM) or a read-only memory (ROM). The input / output interface 3A includes interfaces for acquiring information from input devices, external devices, external servers, external sensors, cameras, etc., and interfaces for outputting information to output devices, external devices, external servers, etc. The input / output interface 3A also includes an interface for connecting to a communication network such as the Internet. Examples of input devices include a keyboard, mouse, microphone, physical buttons, touch panel, etc. Examples of output devices include a display, speaker, printer, mailer, etc. The processor 1A can issue commands to each module and perform calculations based on the results of those calculations.

[0111] "Effects" The stowage support system 10 of the second embodiment achieves the same effects as the stowage support system 10 of the first embodiment. Furthermore, the stowage support system 10 of the second embodiment can appropriately determine candidates for the content of uncertainties related to vacant space information, stowed cargo information, constraints, etc., and create a stowage plan based on the determined content. According to such a stowage support system 10, even when uncertainties related to stowage exist, it is possible to create a reasonable stowage plan and present it to stowage workers.

[0112] Furthermore, the stowage support system 10 can use an appropriate UI (user interface) screen to guide the stowage worker to the loading position of the specified stowed baggage 60. Furthermore, the stowage support system 10 can use an appropriate UI screen to guide the unloading worker to the position where the specified stowed baggage 60 is loaded. The stowage workers and unloading workers can efficiently proceed with their work based on this guidance.

[0113] <Third embodiment> The stowage support system 10 of the third embodiment has a function of updating the error reflection model based on the result information received in the above-mentioned process 5, and recreating the stowage plan using the updated error reflection model. This will be described in detail below.

[0114] Figure 7 shows an example of a functional block diagram of the stowage support system 10. The functional block diagram of Figure 7 differs from the functional block diagram of the stowage support system 10 in that it includes an error reflection model updating unit 17 and a loading plan updating unit 19.

[0115] The error reflection model update unit 17 updates at least one error reflection model based on the result information received in the above-described process 5. This will be explained in detail below.

[0116] First, the result information includes at least one of "information indicating at which of the at least one loading positions indicated in the guidance information the designated stowage cargo has been loaded" and "information indicating the reason for selecting that position from the at least one loading position indicated in the guidance information." Such result information is input to the stowage support system 10 each time one designated stowage cargo is loaded into the stowage destination area 50.

[0117] The error reflecting model update unit 17 may update the error reflecting model every time result information is acquired. Also, the error reflecting model update unit 17 may update the error reflecting model every time a predetermined number of result information is acquired. Also, the error reflecting model update unit 17 may update the error reflecting model every time result information of predetermined content is acquired.

[0118] The "predetermined content result information" is, for example, result information indicating a predetermined reason. The predetermined reason is content that requires updating of the error reflection model, and an example thereof is "it was not possible to load at any other location indicated in the guidance information." If a situation arises in which the designated loading cargo cannot be loaded at the location indicated in the guidance information, it is considered necessary to update the error reflection model involved in creating such a loading plan. At least one of the options of reasons prepared in advance may be predetermined as the reason that requires updating of the error reflection model.

[0119] The error reflection model update unit 17 may update all error reflection models when updating the error reflection models in response to the acquisition of certain result information. Alternatively, the error reflection model update unit 17 may update only some of the error reflection models when updating the error reflection models in response to the acquisition of certain result information. The updated part of the error reflection models are error reflection models involved in the creation of a stowage plan in which the actual loading location of the designated stowage indicated in the result information is not used as the loading location for the designated stowage. In other words, error reflection models involved in the creation of a stowage plan in which the actual loading location of the designated stowage indicated in the result information is used as the loading location for the designated stowage can be excluded from the update target. In this way, error reflection models involved in the creation of a stowage plan indicating a plan adopted by the stowage worker (a loading location for the designated stowage) may be excluded from the update target. Meanwhile, error reflection models involved in the creation of a stowage plan indicating a plan not adopted by the stowage worker (a loading location for the designated stowage) may be the update target.

[0120] Next, we will explain how to update the error reflection model. There are various update methods, but it is preferable to bring the content of the error reflection model to be updated closer to the content of an error reflection model that can be excluded from the update. An example of such an update method will be explained below.

[0121] First, an example of a method for updating an error-reflecting model related to empty space information will be described.

[0122] First, the error reflecting model update unit 17 can perform initialization processing of the error reflecting model at any timing. For example, the initialization processing can be performed at the initial stage when stowage is started. As a result, the contents of each of the multiple error reflecting models are returned to their initial contents. For example, as shown in Figure 8, it is assumed that three error reflecting models 1 to 3 are stored in the error reflecting model storage unit 18. Then, as in the example described in the second embodiment, it is assumed that correction information (dW, dD, dH) is set in each error reflecting model. After the initialization processing, the contents of the correction information of each error reflecting model become, for example, as follows: ２ and n ３ is a preset value.

[0123] ・Error reflection model 1 (dW1, dD1, dH1) = (0, 0, 0) ・Error reflection model 2 (dW2, dD2, dH2) = (0, 0, -n2) ・Error reflection model 3 (dW3, dD3, dH3) = (+n3, 0, 0)

[0124] After the initialization process, the error reflection model update unit 17 updates the error reflection model based on the result information. If the initialization process is performed at the initial stage when loading is started, a loading plan is created in the early stage of loading based on the error reflection model after the initialization process. Then, during loading, the error reflection model is updated based on the result information acquired in the process up to that point. Then, during loading, a loading plan is created again based on the updated error reflection model.

[0125] Here, an example of updating the error reflection model will be described. For example, as shown in Fig. 8, it is assumed that the result information indicates that the specified cargo load has been loaded at the location indicated in the stowage plan created based on error reflection model 3. In this case, error reflection models 1 and 2 are to be updated. Error reflection model 3 can be excluded from the update target.

[0126] The error reflecting model update unit 17 can update the correction information of the error reflecting models 1 and 2 using, for example, a calculation formula as shown in Fig. 8. In the example shown in Fig. 8, for each of dW, dD, and dH, the average value of the value before the update and the value of the error reflecting model that was not updated is calculated, and a random number is added to this average value to calculate the updated value. Note that this calculation formula is merely an example and is not limited to this.

[0127] Next, an example of a method for updating the error reflection model related to loaded baggage information will be described. The error reflection model related to loaded baggage information can be updated using the same method as the above-mentioned error reflection model related to empty space information.

[0128] Next, an example of a method for updating the error reflecting model related to the constraints will be described.

[0129] In this case as well, first, the error reflection model update unit 17 can perform an initialization process for the error reflection models at any timing. This returns the contents of each of the multiple error reflection models to their initial contents. The error reflection model relating to the constraint conditions indicates the contents of the constraint conditions. By the initialization process, for example, the contents of the correction information for each error reflection model become as follows:

[0130] Error reflection model 1: The heavier the luggage, the lower it is placed. Error reflection model 2: The larger the volume of luggage, the lower it is placed. Error reflection model 3: Parcels with the same destination are placed close together.

[0131] After the initialization process, the error reflection model update unit 17 updates the error reflection model based on the result information.

[0132] For example, suppose that the result information indicates that the specified cargo has been loaded at the location indicated in the stowage plan created based on error reflection model 3. In this case, error reflection models 1 and 2 are subject to update. Error reflection model 3 can be excluded from the update target.

[0133] The error reflection model update unit 17 can, for example, use a condition obtained by connecting the condition of the error reflection model that was not updated to the condition before the update with a predetermined logical operator (for example, "and" or "or") as the constraint condition after the update. For example, the error reflection model 1 after the update becomes "heavier packages are loaded lower, and packages with matching destinations are loaded closer together."

[0134] When the error-reflecting model is updated by the error-reflecting model updating unit 17, the stowage plan updating unit 19 causes the stowage plan preparation unit 11 to update the stowage plan. The stowage plan preparation unit 11 re-prepares a stowage plan based on the updated error-reflecting model and updates the stowage plan stored in the stowage plan storage unit 22 to the re-prepared stowage plan. Thereafter, the stowage candidate position calculation unit 16 executes the above-mentioned processing based on the updated stowage plan. Note that the stowage plan preparation unit 11 may re-prepare only a stowage plan for which the error-reflecting model has been updated. In other words, the stowage plan preparation unit 11 does not need to re-prepare a stowage plan for which the error-reflecting model has not been updated.

[0135] Other configurations of the stowage support system 10 of the third embodiment are similar to those of the stowage support system 10 of the first and second embodiments.

[0136] The stowage support system 10 of the third embodiment achieves the same effects as the stowage support systems 10 of the first and second embodiments. Furthermore, the stowage support system 10 of the third embodiment can update the error reflection model. Specifically, the error reflection model can be updated based on feedback (result information) from stowage workers. Such a stowage support system 10 can update the error reflection model in accordance with the intentions of the stowage workers. This update makes it possible to create a more appropriate stowage plan, and as a result, it becomes possible to guide the stowage workers to more appropriate stowage positions.

[0137] <Modifications> The following describes modifications that can be applied to each of the first to third embodiments of the stowage support system 10. These modifications also achieve the same effects as the stowage support system 10 of the first to third embodiments.

[0138] "Variation 1" The stowage support system 10 may receive input of empty space information for a plurality of stowage areas 50. The stowage support system 10 may then calculate which empty space in the plurality of stowage areas 50 the cargo 60 should be loaded into and present this to the stowage worker. In creating a stowage plan, the stowage support system 10 can determine the loading position of each cargo 60 from among the empty spaces indicated by the empty space information for the plurality of stowage areas 50, on the assumption that there are empty spaces therein.

[0139] 3, 4, and 7, the vacant space information measuring instrument 30, the loaded baggage information measuring instrument 40, and the UI terminal 70 are shown separately, but some or all of these may be physically and / or logically integrated. That is, one terminal may realize multiple functions of the vacant space information measuring instrument 30, the loaded baggage information measuring instrument 40, and the UI terminal 70. Examples include, but are not limited to, a smartphone, tablet terminal, or PC equipped with LiDAR.

[0140] 3, 4, and 7, the UI terminal 70 and the stowage support system 10 are shown separately, but the UI terminal 70 and the stowage support system 10 may be physically and / or logically integrated. That is, a single terminal may realize the functions of the UI terminal 70 and the stowage support system 10. Examples of such a terminal include, but are not limited to, a smartphone, a tablet terminal, or a PC.

[0141] Similarly, although the UI terminal 80 and the stowage support system 10 are shown separately in Figures 3, 4, and 7, the UI terminal 80 and the stowage support system 10 may be physically and / or logically integrated. That is, a single terminal may realize the functions of the UI terminal 80 and the stowage support system 10. Examples of such a terminal include, but are not limited to, a smartphone, a tablet terminal, or a PC.

[0142] 3, 4, and 7, the UI terminal 70 and the UI terminal 80 are shown separately, but the UI terminal 70 and the UI terminal 80 may be the same terminal. That is, the stowing worker and the unloading worker may use the same terminal as the UI terminal 70 and the UI terminal 80. The stowing worker and the unloading worker may be the same person or different people.

[0143] [Modification 4] The stowage plan preparation unit 11 may prepare a stowage plan by treating a plurality of stowed luggage 60 virtually as one stowed luggage 60 .

[0144] "Variation 5" The "input specifying one loaded baggage 60 to be loaded next" in process 4 may be automated. For example, the stowage support system 10 may identify the loaded baggage 60 for which the stowage worker has performed a predetermined action by analyzing images generated by a camera installed at the loading work site or data sensed by another center installed at the same site. Then, the stowage support system 10 may specify the identified loaded baggage 60 as the next loaded baggage 60 (designated stowed baggage).

[0145] The "predetermined action" is an action that the stowing worker is expected to take with respect to the next loaded baggage 60. For example, the predetermined action may be, but is not limited to, holding it in one's hand or touching it with one's hand.

[0146] For example, the stowed luggage 60 may be assigned information (such as a code) indicating an identifier. The stowage support system 10 may then identify the stowed luggage 60 on which a stowage worker has performed a predetermined action by reading the information using image analysis or the like. Alternatively, the appearance features of each of the multiple stowed luggage 60 may be registered in advance. The stowage support system 10 may then identify the stowed luggage 60 on which a stowage worker has performed a predetermined action based on the appearance features. The stowage support system 10 may also detect the stowage worker from the image using any means such as facial recognition.

[0147] "Variation 6" The stowage support system 10 may, for example, ask the user to input the reason for selecting one of the candidates for the next stowage 60 presented by the priority baggage calculation unit 15. Similarly, the stowage support system 10 may ask the user to input the reason for selecting one of the candidate loading locations for the designated stowage shown in the guidance information, where the user has actually placed the designated stowage. One possible method for inputting the reason is to present options and ask the user to select one or more appropriate reasons. The presentation of the above information and input of the answer are realized, for example, via a UI terminal 70 or the like.

[0148]

[0047] The stowage support system 10 may be able to dynamically switch ON / OFF a mode in which multiple candidates are displayed in the guidance information for loading designated stowage. The switching is realized, for example, by a user input.

[0149] When this mode is ON, guidance information is presented to the stowage worker using the methods described in the first to third embodiments.

[0150] When this mode is OFF, the guidance information shows the location of the designated stowage indicated by any one of the multiple stowage plans created by the stowage plan creation unit 11. Selection of one of the multiple stowage plans can be achieved by any means. For example, the user may select it, the stowage support system 10 may select it randomly, or the stowage support system 10 may select it by some other means. When only one candidate is presented, the stowage plan up to the final step is uniquely determined, and it is possible to visualize the entire stowage plan up to the final step, which is preferable.

[0151] Variation 8: Priorities may be assigned to multiple error reflection models. Furthermore, in the guidance information (see FIG. 5) indicating the locations where designated stowage cargoes are to be loaded, the priority may be indicated by linking it to each location. For each location, the priority of the error reflection model involved in creating the stowage plan indicating that location is indicated.

[0152] Based on the displayed priority, the loading worker can decide the location where the specified cargo will actually be loaded from among a plurality of candidate locations.

[0153] The priority can be determined by various means. For example, the priority may be determined based on the contents of the stowage plan. As an example, the stowage support system 10 can determine a higher priority for an error reflection model involved in a stowage plan with higher stowage efficiency. The stowage efficiency can be calculated based on the amount of wasted space not occupied by the loaded cargo 60. The smaller the wasted space, the higher the stowage efficiency.

[0154] Furthermore, the priority may be updated based on the result information described above. For example, the stowage support system 10 may update the priority of each error reflection model so that the error reflection model that has been updated less frequently by the error reflection model update unit 17 described in the third embodiment has a higher priority.

[0155] [Modification 9] The error reflection model for the empty space information and loaded baggage information may be a probability distribution.

[0156] In the first to third embodiments, an example has been described in which correction information (dW, dD, dH) is set in each error reflection model as an example of the error reflection model. The correction information may be set as a probability distribution instead of several parameters. For example, it is also possible to express the correction information of the error reflection model as a normal distribution with a mean μ = μH and a standard deviation σ = σH.

[0157] In this case, the error reflection model uses values ​​(dW, dD, dH) sampled by any means from the probability distribution to perform error reflection processing on the vacant space information acquired by the vacant space information acquisition unit 13 and the loaded cargo information acquired by the loaded cargo information acquisition unit 14.

[0158] The parameters of the probability distribution can be updated by updating the error reflection model by the error reflection model update unit 17. When updating the error reflection model of a normal distribution, a method of updating μW, μD, μH, σW, σD, and σH is considered.

[0159] "Modification 10" As shown in Fig. 5, when the stowage support system 10 presents the stowage positions for the designated stowage cargoes to the stowage worker, it may also present the reasons for the positions. The stowage support system 10 can present a reason for each of at least one position. Various constraints may be applied in generating the stowage plan. The stowage support system 10 can present the constraints applied in determining each position as the reasons.

[0160] On-site, the person who plans the loading plan and the loading worker who actually performs the loading work may be different people, and there may be cases where the constraints are not shared. The above reasons may be factors that determine when the loading worker selects one of the candidate loading positions as the designated loading position.

[0161] "Modification 11" The stowage support system 10 does not need to have the cargo search unit 21. In other words, the stowage support system 10 does not need to execute Process 6. Even without the cargo search unit 21, the stowage support system 10 can still support the stowage work performed by stowage workers.

[0162] "Variation 12" The stowage support system 10 does not need to have the priority cargo calculation unit 15. The priority cargo calculation unit 15 makes the system user-friendly. However, even without the priority cargo calculation unit 15, the stowage support system 10 can still support stowage work performed by stowage workers and unloading work performed by unloading workers.

[0163] "Modification 13" The stowage support system 10 does not have to have the stowage plan storage unit 22. An external device configured to be able to communicate with the stowage support system 10 may have the stowage plan storage unit 22.

[0164] "Modification 14" The stowage support system 10 does not have to have the error reflection model storage unit 18. An external device configured to be able to communicate with the stowage support system 10 may have the error reflection model storage unit 18.

[0165] "Modification 15" The stowage support system 10 does not have to have the stowage plan generation algorithm selector 20. One algorithm to be executed by the stowage plan generator 11 may be determined in advance.

[0166] [Modification 16] The stowage assistance system 10 may be configured not to acquire the loaded cargo information measured by the loaded cargo information measuring instrument 40. In this case, the loaded cargo information measuring instrument 40 becomes unnecessary.

[0167] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0168] In addition, in the flowcharts used in the above explanation, multiple steps (processes) are described in order. However, the order of the steps performed in each embodiment is not limited to the order described. In each embodiment, the order of the steps shown in the drawings can be changed as long as it does not cause any problems in terms of the content.

[0169] Some or all of the above embodiments may be described as in the following supplementary notes, but are not limited to them. 1. A stowage support system comprising: a stowage plan creation means that creates at least one stowage plan that determines at which position within a stowage area at least one piece of stowage should be stowed, on the premise that the content of an uncertainty regarding the stowage of at least one piece of stowage into the stowage area is each of at least one candidate; and an output means that outputs guidance information that indicates the loading position of designated stowage indicated in each of at least one stowage plan as the loading position of the designated stowage, which is the one designated piece of stowage. 2. The stowage support system described in 1, wherein the stowage plan creation means creates a plurality of stowage plans, and the output means outputs the guidance information that indicates the loading position of the designated stowage indicated in each of the plurality of stowage plans as the loading position of the designated stowage. 3. 3. A stowage support system as set forth in 1, comprising a vacant space information acquisition means for acquiring vacant space information indicating the shape and size of vacant space in the stowage area, wherein the uncertainties are whether or not there is an error in the vacant space information and the details of the error in the vacant space information. 4. The stowage plan creation means calculates the shape and size of the vacant space when the details of the uncertainties are at least one candidate based on at least one error reflection model, and creates at least one stowage plan based on each of the calculated at least one shape and size of the vacant space. 5. A stowage support system as set forth in 1, comprising a stowage information acquisition means for acquiring stowage information indicating the shape and size of the stowed cargo, wherein the uncertainties are whether or not there is an error in the stowage information and the details of the error in the stowage information. 6. The stowage plan creation means calculates the shape and size of the loaded cargo when the content of the uncertainty is each of at least one candidate based on at least one error reflection model, and creates at least one stowage plan based on each of the calculated at least one shape and size of the loaded cargo.7. The stowage support system according to 1, wherein the uncertainties are constraints imposed on the stowage of the cargo to be stowed, and the stowage plan creation means determines at least one of the constraints to be applied based on at least one error reflection model, and creates at least one of the stowage plans under conditions under which each of the at least one determined constraint is applied. 8. The stowage support system according to 4, 6, or 7, further comprising: error reflection model update means for updating at least one of the error reflection models based on result information indicating at least one of information indicating which of the at least one loading position indicated in the guidance information the designated stowage cargo has been loaded at, and information indicating the reason for selecting that position from the at least one loading position indicated in the guidance information. 9. 10. A stowage support method as set forth in claim 9, wherein one or more computers prepare a plurality of stowage plans and output the guidance information indicating the loading positions of the designated stowage indicated in each of the plurality of stowage plans as the loading positions of the designated stowage. 11. A stowage support method as set forth in claim 9, wherein one or more computers acquire vacant space information indicating the shape and size of vacant space in the stowage area, and wherein the uncertainties are whether or not there is an error in the vacant space information and the content of the error in the vacant space information. 12. 12. The stowage support method according to claim 11, wherein the one or more computers calculate, based on at least one error reflection model, the shape and size of the vacant space when the content of the uncertainty is each of at least one candidate, and create at least one stowage plan based on each of the calculated at least one shape and size of the vacant space.13. The stowage support method according to 9, wherein the one or more computers acquire loaded cargo information indicating the shape and size of the loaded cargo, and the uncertainties are the presence or absence of an error in the loaded cargo information and the content of the error in the loaded cargo information. 14. The stowage support method according to 13, wherein the one or more computers calculate, based on at least one error reflection model, the shape and size of the loaded cargo when the content of the uncertainties is each of at least one candidate, and create at least one stowage plan based on each of the calculated at least one shape and size of the loaded cargo. 15. The stowage support method according to 9, wherein the uncertainties are constraints imposed on the stowage of the loaded cargo, and the one or more computers determine, based on at least one error reflection model, at least one constraint to be applied, and create at least one stowage plan under conditions under which each of the determined at least one constraint is applied. 16. 17. A stowage support method according to 12, 14 or 15, in which the one or more computers update at least one of the error reflection models based on result information indicating at least one of information indicating at which of the at least one loading position indicated in the guidance information the designated stowage baggage has been loaded, and information indicating the reason for selecting that position from the at least one loading position indicated in the guidance information. 17. A program that causes a computer to function as: a stowage plan creation means that creates at least one stowage plan that determines at which position within a stowage area each of at least one of the stowage baggage will be loaded, assuming that the content of an uncertainty regarding the stowage of at least one of the stowage baggage into the stowage area is each of at least one candidate; and an output means that outputs guidance information indicating the loading position of the designated stowage baggage indicated in each of the at least one stowage plan as the loading position of the designated stowage baggage, which is one of the designated stowage baggage. The stowage plan creation means creates a plurality of the stowage plans, and the output means outputs the guidance information indicating the loading positions of the designated stowage cargo indicated in each of the plurality of stowage plans as the loading positions of the designated stowage cargo.19. The program according to 17, wherein the computer is made to function as empty space information acquisition means for acquiring empty space information indicating the shape and size of empty space in the stowage area, and the uncertainties are the presence or absence of an error in the empty space information and the content of the error in the empty space information. 20. The program according to 19, wherein the stowage plan creation means calculates the shape and size of the empty space when the content of the uncertainties is each of at least one candidate based on at least one error reflection model, and creates at least one stowage plan based on each of the calculated at least one shape and size of the empty space. 21. The program according to 17, wherein the computer is made to function as loaded baggage information acquisition means for acquiring loaded baggage information indicating the shape and size of the loaded baggage, and the uncertainties are the presence or absence of an error in the loaded baggage information and the content of the error in the loaded baggage information. 22. 22. The program described in 21, wherein the stowage plan creation means calculates, based on at least one error reflection model, the shape and size of the loaded cargo when the content of the uncertainty is each of at least one candidate, and creates at least one stowage plan based on each of the calculated at least one shape and size of the loaded cargo. 23. The program described in 17, wherein the uncertainty is a constraint imposed on the stowage of the loaded cargo, and the stowage plan creation means determines, based on at least one error reflection model, at least one constraint to be applied, and creates at least one stowage plan under conditions under which each of the determined at least one constraint is applied. 24. The program described in 20, 22, or 23, which causes the computer to function as error reflection model update means that updates at least one of the error reflection models based on result information that indicates at least one of information indicating which of at least one loading positions indicated in the guidance information the designated stowage cargo was loaded into and information indicating the reason for selecting that position from the at least one loading position indicated in the guidance information.

[0170] This application claims priority based on Japanese Patent Application No. 2023-117343, filed on July 19, 2023, the disclosure of which is incorporated herein in its entirety by reference.

[0171] DESCRIPTION OF SYMBOLS 10 Stowage support system 11 Stowage plan creation unit 12 Output unit 13 Empty space information acquisition unit 14 Stowed cargo information acquisition unit 15 Priority cargo calculation unit 16 Stowage candidate position calculation unit 17 Error reflection model update unit 18 Error reflection model storage unit 19 Stowage plan update unit 20 Stowage plan generation algorithm selection unit 21 Cargo search unit 22 Stowage plan storage unit 30 Empty space information measurement device 40 Stowed cargo information measurement device 50 Stowage destination area 60 Stowed cargo 70 UI terminal 80 UI terminal 1A Processor 2A Memory 3A Input / output I / F 4A Peripheral circuit 5A Bus

Claims

1. A loading plan creation means that creates at least one loading plan that determines the location within the loading area where each of the at least one of the loads will be loaded, based on the premise that each of the uncertain factors regarding the loading of at least one load to the loading area is at least one candidate, An output means that outputs guidance information indicating the loading position of a designated cargo, which is one of the designated cargo items, as shown in at least one of the loading plans, A stacking support system that has the following features.

2. The aforementioned stacking plan creation means creates a plurality of the aforementioned stacking plans, The loading support system according to claim 1, wherein the output means outputs the guidance information indicating the loading position of the designated loading cargo as shown in each of the plurality of loading plans, as the loading position of the designated loading cargo.

3. The system includes a means for acquiring empty space information that acquires empty space information indicating the shape and size of the empty space in the aforementioned loading area, The stacking support system according to claim 1, wherein the uncertain elements are the presence or absence of errors in the empty space information and the content of the errors in the empty space information.

4. The aforementioned means for creating the accumulation plan is: Based on at least one error reflection model, the shape and size of the empty space are calculated for each of the cases where the content of the uncertain element is at least one candidate. The stacking support system according to claim 3, which creates at least one stacking plan based on each of the calculated shapes and sizes of the empty space.

5. The system includes a means for acquiring cargo information that acquires cargo information indicating the shape and size of the cargo, The loading support system according to claim 1, wherein the uncertain elements are whether or not there is an error in the loading information and the content of the error in the loading information.

6. The aforementioned means for creating an accumulation plan is: Based on at least one error reflection model, the shape and size of the cargo are calculated for each of the cases where the content of the uncertain element is at least one candidate. The loading support system according to claim 5, which creates at least one loading plan based on each of the calculated shapes and sizes of the loading cargo.

7. The aforementioned uncertainties are constraints imposed on the loading of the cargo, The stacking support system according to claim 1, wherein the stacking plan creation means determines at least one constraint to be applied based on at least one error reflection model, and creates at least one stacking plan under conditions to which each of the determined at least one constraint is applied.

8. An error reflection model updating means updates at least one of the error reflection models based on result information that indicates at least one of the at least one loading location indicated in the guidance information to which the designated cargo was loaded, and information that indicates the reason for selecting that location from the at least one loading location indicated in the guidance information. The stacking support system according to claim 4, 6, or 7, having the following:

9. One or more computers, Assuming that each of the uncertainties regarding the loading of at least one load to the loading area is at least one candidate, create at least one loading plan that determines where each of the at least one loads will be loaded within the loading area. A loading support method that outputs guidance information indicating the loading location of a designated loading item, which is one of the designated loading items, as shown in at least one of the loading plans.

10. Computers, A loading plan creation means that creates at least one loading plan that determines the location within the loading area where each of the at least one of the loads will be loaded, assuming that each of the uncertain factors regarding the loading of at least one load to the loading area is at least one candidate. Output means for outputting guidance information indicating the loading position of a designated cargo, which is one of the designated cargo items, as shown in at least one of the cargo plans. A program that makes it function as such.

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