JP7747425B2 - Load management system and load management program - Google Patents

Description

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

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

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

As a method for preventing damage to the contents of a package during transport, a conventional packaging method has been known that keeps the contents in the center of the box and prevents impacts to the box from being transmitted to the contents. However, even if the contents of a package are damaged during transport for some reason, the invention disclosed in the above-mentioned patent document cannot detect the damage. Therefore, there is a problem in that problems with the contents of the package are discovered when the package arrives at the end user.

Japanese Patent Application Laid-Open No. 2007-112523 JP 2018-43815 A

The problem that this invention aims to solve is to provide a cargo management system that can detect the condition of the contents before the cargo arrives at the end user.

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

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

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

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

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

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

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

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

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

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

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

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

The cargo management system of the present invention can detect the condition of the contents before the cargo arrives at the end user.

1 is a schematic front view of a cargo management system according to one embodiment of the present invention. FIG. 2 is a schematic plan view of the load management system shown in FIG. 1. FIG. 1 is a block diagram of a cargo management system. 10A and 10B are plan views showing images of contents, where A indicates that the contents is a gun and B indicates that the contents is a sword. 1A and 1B are plan views showing images of contents, where A shows a state in which the contents are not displaced, and B shows a state in which the contents are displaced. FIG. 1 is a flow chart showing the flow of the cargo management system.

One embodiment of the cargo management system of the present invention will now be described with reference to the accompanying drawings. Figure 1 is a schematic front view of a cargo management system S according to one embodiment of the present invention, and Figure 2 is a schematic plan view of the cargo management system S. Figure 3 is a block diagram of the cargo management system S.

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

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

<Unmanned Aerial Vehicles>
The unmanned aerial vehicle 1 is a so-called drone and has a main body, four propellers arranged on each side of the main body, and a power unit 10 (see Figure 3) that rotates the propellers. The unmanned aerial vehicle 1 is configured to be able to fly and hover using the propellers. The unmanned aerial vehicle 1 is also configured to be able to communicate with a management device 3.

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

The flight position detection unit 11 has known sensors such as a GPS sensor and an ultrasonic sensor, and uses these sensors to detect the position of the unmanned aerial vehicle 1.

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

As shown in Figure 4, the transmission device 12 captures an image of the shipping box B so that the outer frame OF of the shipping box B is included in the content image IP. The generated content image IP is sent to the management device 3 along with the position information of the corresponding shipping box B.

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

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

As shown in FIG. 3, the forklift 2 further includes a vehicle position detection unit 21, a drive unit 22, and a vehicle control unit 23.

The vehicle position detection unit 21 detects the position of the forklift 2 using known sensors such as a GPS sensor or laser sensor. The drive unit 22 drives the wheels and changes direction.

Based on the cargo handling command from the management device 3, the vehicle control unit 23 controls the drive unit 22 to drive the wheels and move the forklift 2 to the commanded position. Furthermore, when the forklift 2 arrives at the commanded position, the vehicle control unit 23 controls the lifting device 20 to raise and lower the cargo box B.

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

As shown in FIG. 3, the management device 3 has, as its functional configuration, a memory unit 30, an aircraft command unit 31, an analysis unit 32, and a cargo handling command unit 33.

The memory unit 30 stores in advance the locations at which the shipping boxes B are to be placed. In this embodiment, each shipping box B is placed at a predetermined location on the bed of the truck T, and the truck T stops in a predetermined truck area TE. In other words, after the truck T stops, each shipping box B is placed at the location stored in the memory unit 30.

When truck T arrives at truck area TE, the aircraft command unit 31 transmits a flight command to unmanned aircraft 1, including the location of each cargo box B, so that unmanned aircraft 1 flies to the location of each cargo box B.

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

When content I is identified using a rule-based algorithm, the memory unit 30 may be configured to pre-store a content image IP when content I is a hazardous item, and the analysis unit 32 may be configured to compare the content image IP stored in the memory unit 30 with the content image IP received from the unmanned aerial vehicle 1, and identify content I as a hazardous item based on similarities and differences.

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

Figure 5 is a plan view showing a content image IP, where Figure 5A shows a state in which the content I is not misaligned, and Figure 5B shows a state in which the content I is misaligned from the predetermined position. The analysis unit 32 further determines the amount of misalignment CD of the content I from the predetermined position based on the content image IP, and determines whether the amount of misalignment CD exceeds the predetermined amount of misalignment.

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

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

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

The contents I of the shipping box B placed in the third area E3 are misaligned by more than a predetermined amount, so there is a possibility that the contents I may be damaged. Therefore, by manually opening and inspecting the contents I, any damage to the contents I can be detected before they reach the end user.

Next, we will explain the operation of the cargo management system S again, with reference to the flow chart in Figure 6.

(1) First, when a truck T carrying multiple shipping boxes B arrives (see S61 in Figure 6), the management device 3 sends a flight command to the unmanned aerial vehicle 1 (see S62 in Figure 6).

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

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

(4) If the content I is not the specified item (No in S65 of FIG. 6) and the positional deviation of the content I is less than or equal to the specified amount (No in S66 of FIG. 6), the management device 3 sends a loading/unloading command to the forklift 2 for the first area E1, which includes the location of the shipping box B (see S67 of FIG. 6).

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

(6) The forklift 2 performs loading and unloading operations in accordance with the received loading and unloading command (see S70 in Figure 6).

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

The cargo management system S and cargo management program according to one embodiment of the present invention have been described above, but the cargo management system according to the present invention is not limited to the above embodiment. For example, the cargo management system S and cargo management program according to the present invention may be implemented using the following modifications, or may be implemented by appropriately combining the following modifications.

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

- The waiting position of the unmanned aerial vehicle 1 is not particularly limited. For example, the unmanned aerial vehicle 1 may be configured to wait inside the truck T, and when the truck T arrives at the truck area TE, to fly and capture an image of the contents I.

- The second area E2 and the third area E3 may be configured as a single common area.

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

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

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

B Cargo box E1 First area E2 Second area E3 Third area I Contents IP Contents image OF Outer frame S Cargo management system T Truck TE Truck area 1 Unmanned aerial vehicle 10 Power unit 11 Flight position detection unit 12 Transparency device 13 Aerial vehicle control unit 2 Forklift 20 Lifting device 21 Vehicle position detection unit 22 Drive unit 23 Vehicle control unit 3 Management device 30 Memory unit 31 Aerial vehicle command unit 32 Analysis unit 33 Cargo handling command unit

Claims (10)

a memory unit that stores the position where the packing box is placed;
an unmanned aerial vehicle having a penetration device and flying toward the location of the packing box;
an analysis unit ,
the transmission device is configured to transmit through the shipping box to capture an image of the contents of the shipping box and generate a content image;
The content image includes an outer frame of the shipping box,
The analysis unit is a cargo management system that identifies the amount of positional deviation of the contents from a predetermined position based on the content image. a forklift that loads and unloads the container;
A loading command unit that specifies a loading location for the packing box is further provided,
The cargo management system according to claim 1 , wherein the cargo handling command unit designates the cargo storage location of the packing box as a predetermined location when the identified positional deviation amount exceeds a predetermined positional deviation amount. The cargo management system according to claim 1 , wherein the analysis unit further determines whether the contents are a predetermined item based on the content image. a forklift that loads and unloads the container;
A loading command unit that specifies a loading location for the packing box is further provided,
4. A cargo management system according to claim 3 , wherein the cargo handling command unit designates the storage location of the packing box as a predetermined location when the contents are the predetermined items. Further provided with an alarm device,
5. A cargo management system according to claim 4 , wherein the notification device notifies the driver of the forklift that the contents are the predetermined items when the contents are the predetermined items. The cargo management system of claim 1 , wherein the transmission device comprises a millimeter wave scanner. The cargo management system of claim 1 , wherein the transmission device comprises a backscatter X-ray inspection device. a memory unit that stores the position where the packing box is placed;
an unmanned aerial vehicle having a penetration device and flying toward the location of the packing box;
an analysis unit;
a forklift that loads and unloads the container;
a loading command unit that specifies a loading location for the packing box,
the transmission device is configured to transmit through the shipping box to capture an image of the contents of the shipping box and generate a content image;
The analysis unit determines whether the contents are damaged based on the content image,
The cargo handling command unit is a cargo management system that designates the cargo storage location of the packing box as a predetermined location when the contents are damaged. a management device having a computer;
an unmanned aerial vehicle having a penetration device;
A load management program used in a load management system equipped with a forklift that loads and unloads load boxes,
the transmission device is configured to transmit an image of the contents of the shipping box through the shipping box and generate a content image including an outer frame of the shipping box;
The load management program is configured to:
an analysis unit that identifies the amount of positional deviation of the content from a predetermined position based on the content image;
a cargo management program that operates as a cargo handling command unit that designates a cargo storage location for the cargo box at a predetermined location when the identified positional deviation amount exceeds a predetermined positional deviation amount; a management device having a computer;
an unmanned aerial vehicle having a penetration device;
A load management program used in a load management system equipped with a forklift that loads and unloads load boxes,
the transmission device is configured to transmit an image of the contents of the shipping box through the shipping box to generate a content image;
The load management program is configured to:
an analysis unit that determines whether the contents are damaged based on the content image;
A cargo management program that operates as a cargo handling command unit that designates a predetermined location for storing the packing box when the contents are damaged .