JP2017071485A - Article position management system, article position management device, and article information collection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To manage the position of each article arranged in a facility at comparatively small cost.SOLUTION: A plurality of targets 30 are provided at an upper position of each arrangement area 42 where an article 41 is arranged, an article information collection device 10 photographs an article image including the article 41 and the targets 30 to collect article information, an image processing part 27B specifies a position and a size on the article image about a retroreflector 30B from a difference image of two article images forming a pair, and extracts colors of a color mark 30A from the article images on the basis of the position of the retroreflector 30B, and an article position specification part 27C acquires a target installation position corresponding to a combination of the colors, calculates a photographing distance on the basis of the size of the retroreflector 30B, calculates a photographing position at which the article images are photographed on the basis of the target installation position and the photographing distance, and specifies the position of the article 41 arranged in the facility 40 on the basis of the target installation position and the photographing position.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an article position management technique for managing the positions of a plurality of articles arranged in a facility.

  Conventionally, as a technique for managing the position of an article placed in a facility, an article wireless tag is attached to the article, and a fixed wireless tag is placed at a reference position in the facility to move within the facility. There has been proposed a technique for determining that the article is located near the reference position when tag signals from the article wireless tag and the fixed wireless tag received by the receiving unit are received almost simultaneously (for example, (See Patent Document 1).

  In addition, when managing the location of a pallet for carrying goods as an example of the above article, a camera or a wireless tag I / F is mounted on the forklift, and when placing the pallet on the forklift, the image from the image about the pallet placement location or from the packet A technique for collecting and managing pallet identification information received by a tag signal has been proposed (see, for example, Patent Document 2).

JP 2003-185730 A Japanese Patent Laying-Open No. 2015-084139

However, according to such a conventional technique, in the case of the technique of Patent Document 1, since the position of the article is detected based on the reception timing of the tag signal, a rough position of the article can be detected, but a more accurate position is detected. In order to detect the problem, it is necessary to increase the number of fixed wireless tags, which increases the cost required for installation and maintenance of the fixed wireless tags.
In the case of the technique of Patent Document 2, since the pallet position is detected when the pallet is arranged by the forklift, when the pallet is moved by a method other than a forklift such as a manual or a handlift, it matches the management information. There was a problem of not going to.

  The present invention is for solving such problems, and an object of the present invention is to provide an article position management technique capable of managing the position of each article placed in a facility at a relatively low cost.

  In order to achieve such an object, an article position management system according to the present invention is an article position management system for managing the positions of a plurality of articles arranged in a facility, and each arrangement in which the articles are arranged. A plurality of targets that are respectively installed above the area and that display a unique identification code corresponding to the installation position, and periodically move within the facility to photograph the article and the article image including the target An article information collection device that collects article information used to specify the position of the article from the facility, and an article position that identifies the position of the article based on the article image collected by the article information collection device. A plurality of color indicators connected to each other in the vertical direction, each of which indicates a unique color constituting the identification code. The article information collecting device includes an illumination light that emits illumination light for photographing, and is the same when photographing the article image. With respect to the shooting position and the same shooting direction, two article images are taken as a set when the illumination light is emitted from the illumination light and when the illumination light is not emitted, and the article position management device is configured to set the two article images. An image processing unit that identifies the position and size of the target retroreflector on the article image based on the difference image of the target, and extracts the color of the target color marker from the article image based on the position of the retroreflector And obtain the target installation position corresponding to the identification code consisting of a combination of these colors, and the size of the retroreflector Based on the target and the article information collecting device, and calculating the shooting position of the article information collecting device that shot the article image based on the target installation position and the shooting distance. An article position specifying unit that specifies the position of the article arranged in the facility based on the target installation position and the photographing position.

  Also, one configuration example of the article position management system according to the present invention is the article ID of the article transmitted from the wireless tag attached to the article when the article information collecting device captures the article image. Is acquired in association with the article, and the article position management device is associated with the article image used for specifying the position of the article among the article IDs collected by the article information collection device. Article position management that associates the article ID specified by the article position specifying unit with the article ID specifying unit that specifies the ID as the article ID of the article, and the article ID specified by the article ID specifying unit And a DB processing unit registered in the DB.

  In one configuration example of the article position management system according to the present invention, the color mark has a substantially circular shape or a substantially polygonal shape in a horizontal section.

  Also, one configuration example of the article position management system according to the present invention is such that the article information collection device periodically self-propels in the facility and is arranged in each arrangement area and the arrangement. Article information used for specifying the position of the article is collected from the facility by photographing an article image including an area target.

  Further, in one configuration example of the article position management system according to the present invention, the article information collection device is mounted on a forklift that transports the article in the facility, and the article is placed in the arrangement area by the forklift. The article information used for specifying the position of the article is collected from the facility by photographing the article image including the article and the target of the arrangement area.

  In addition, according to one configuration example of the article position management system according to the present invention, when the article information collection device arranges the article in the arrangement area by the forklift, the weight of the article measured by the scale of the forklift is used. Acquired and included in the article information.

An article position management apparatus according to the present invention is an article position management apparatus used in any of the article position management systems described above.
An article information collecting apparatus according to the present invention is an article information collecting apparatus used in any of the article position management systems described above.

  According to the present invention, an article image relating to each article arranged in the facility is automatically collected periodically by the article information collecting device, and the article image is subjected to image processing to specify the position of each article. Therefore, the position of the article can be specified more accurately as compared with the case where the position of the article is detected based on the reception timing of the tag signal. In addition, even when the placement position of an article is changed manually, the registered contents of the article position management can be matched with the placement position of the article every time the article information is automatically collected, which is extremely useful article position management. Can be provided.

It is the schematic which shows the structure of the article position management system concerning 1st Embodiment. FIG. 2 is a plan view of a facility to which the article position management system of FIG. 1 is applied. It is explanatory drawing which shows a pallet. It is a structural example of a target. It is a block diagram which shows the structure of the article | item information collection apparatus concerning 1st Embodiment. It is a block diagram which shows the structure of an article | item position management apparatus. It is an example of composition of target information. It is an example of composition of article management DB concerning a 1st embodiment. It is a flowchart which shows the article information collection process concerning 1st Embodiment. It is a flowchart which shows the article | item management information registration process concerning 1st Embodiment. It is a generation example of a difference image. It is an example of calculation of an imaging position. It is an external view of a forklift. It is a block diagram which shows the structure of the article information collection apparatus concerning 2nd Embodiment. It is a flowchart which shows the article information collection process concerning 2nd Embodiment. It is an example of composition of article management DB concerning a 2nd embodiment.

Next, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
First, an article location management system 1 according to a first embodiment of the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is a schematic diagram illustrating a configuration of an article position management system according to the first embodiment. FIG. 2 is a plan view of a facility to which the article position management system of FIG. 1 is applied.

  The article position management system 1 according to the present invention is a system that manages the position of each article 41 for each article 41 arranged in a facility 40 such as a warehouse. In the following, an example will be described in which the article 41 that is the object of position management is made up of a pallet that is used for transporting and storing luggage.

FIG. 3 is an explanatory view showing a pallet, FIG. 3 (a) shows an external view of the pallet, and FIG. 3 (b) shows an example of stacked arrangement of pallets.
The pallet 41 is fitted with a wireless tag 41A at the center position of the upper surface so as not to interfere with the cargo placed on the upper surface, and a tag ID corresponding to the pallet ID is transmitted from the wireless tag 41A by a tag signal. . In addition, a plurality of dots 41B indicating a two-dimensional pattern associated with the palette ID are provided on the upper surface of the palette 41, and the two-dimensional pattern of these dots 41B is photographed with a camera, so that it is unique to the palette 41. Can be obtained.

  Note that the article 41 that is the position management target is not limited to the pallet 41. For example, electronic devices such as personal computers and personal digital assistants, carts used for transporting and storing luggage, stretchers for transporting injured and sick people who cannot move, infusion stands for instilling patients, for walking It is possible to manage positions related to various items such as wheelchairs used to move people with disabilities.

  The article position management system 1 includes a target 30, an article information collection device 10, and an article management device 20.

The target 30 is made up of a plurality of position identification signs installed above the arrangement area 42 where the articles 41 are arranged, such as the ceiling 31 of the facility 40, and has a function of displaying a unique identification code corresponding to each installation position. Have.
FIG. 4 is a configuration example of the target. This target 30 is composed of a plurality of color markers 30A that are each labeled with a unique color that constitutes an identification code and that are connected in the vertical direction, and a retroreflector 30B that reflects the emitted illumination light toward the irradiation source. Has been. Each color mark 30A is obtained by coloring a unique color constituting an identification code on the outer peripheral surface of a mark body whose horizontal cross section has a substantially circular shape or a substantially polygonal shape.

  FIG. 4A shows an example in which each of the color markers 30A has a separate marker, here a spherical shape. These color markers 30A together with the retro reflector 30B are provided by a pole 30C penetrating through the inside. It is attached above the arrangement area 42 such as the ceiling 31. The outer shape of these marker bodies is not limited to a spherical shape, and may be any marker body whose horizontal cross section has a substantially circular shape or a substantially polygonal shape, and has a substantially columnar shape, a substantially spherical shape, a substantially inverted cone shape, a substantially It may be an inverted frustum shape or a substantially hemispherical shape. The interior may be a cavity. This makes it possible to view not only from the front but also from any direction, such as diagonally from left to right or diagonally below, and identify each color constituting the identification code without limiting the shooting position.

  FIG. 4B shows an example in which the color marker 30A is formed as an integral marker body 30D, here a columnar shape. For example, the outer peripheral portion of the marker column 30D may be divided into three strip colored areas in the axial direction (vertical direction), and the three colored markers 30A may be formed by coating each strip colored area with three colors. Good. Thereby, the plurality of color markers 30A can be collectively formed on one member, and the structure of the target 30 can be simplified. The marker column 30D is not limited to a columnar shape, and may be any marker body whose horizontal cross section has a substantially circular shape or a substantially polygonal shape, and has a substantially columnar shape, a substantially spherical shape, a substantially inverted cone shape, or a substantially inverted shape. A frustum shape or a substantially hemispherical shape may be sufficient. The interior may be a cavity. Accordingly, it is possible to view not only from the front but also from any direction such as a left-right diagonal direction or a diagonally downward direction, and a color constituting the identification code can be identified without limiting the shooting position.

  The article information collection device 10 shoots an article image including the article 41 and the target 30 at different shooting positions and shooting directions, and uses the article ID of the article 41 transmitted from the wireless tag attached to the article 41. By acquiring this, it has a function of collecting these article information used for specifying the position of the article 41 from the facility 40. The article information is not limited to these article images and article IDs, but may include other information used for specifying the position of the article 41.

  As a specific example of the article information collecting apparatus 10, as with a general cleaning robot that automatically performs cleaning by self-propelled on the floor, along a pre-programmed route or at random, for example, before work or after work An apparatus having a function of periodically self-propelling in the facility 40 during a work suspension period that does not hinder the cargo handling work of the article 41, such as, is not limited to this. For example, it may be an electronic device mounted on a device that is guided or operated by a person, such as a vacuum cleaner used for cleaning by a cleaning operator or a forklift that transports the article 41. In particular, an example mounted on a forklift will be described in detail in a second embodiment to be described later.

  FIG. 2 shows an example in which the article information collecting apparatus 10 is self-propelled along a path programmed in advance between the arrangement areas 42 where the articles 41 are arranged. As for the photographing of the component images, automatic photographing may be performed at regular time intervals, every mileage, or every set photographing position. At this time, the shooting direction may be automatically shot for each of a plurality of set angles. The camera 11 may be rotated at a certain time interval or angle interval, or a plurality of cameras having different shooting directions may be selected. It may be used. Moreover, you may image | photograph as a moving image from the driving | running | working start to the completion | finish of driving | running | working not intermittently.

  The article position management apparatus 20 is composed of an information processing apparatus such as a server apparatus or a personal computer as a whole, and is connected to the article information collection apparatus 10 via a communication network NW such as a wireless LAN and collected by the article information collection apparatus 10. Based on the article image and the article ID included in the article information, the position of the article having the article ID is specified and managed.

[Article information collection device]
Next, the configuration of the article information collection device 10 will be described in detail with reference to FIG. FIG. 5 is a block diagram illustrating a configuration of the article information collection device according to the first embodiment.
The article information collecting apparatus 10 includes a camera 11, an illumination light 12, a tag I / F unit 13, a wireless I / F unit 14, a storage unit 15, and a control unit 16 as main functional units. In addition, when collecting article information by self-propelling, in addition to these functional units, a traveling function for self-propelling is provided.

In response to an instruction from the control unit 16, the camera 11 captures an article image including the article 41 and the target 30 positioned around the article 41 at different shooting positions and shooting directions in the facility 40, and the article image. In this case, for the same shooting position and the same shooting direction, the illumination light 12 has a function of shooting two article images as a set when the illumination light is emitted and when it is not emitted.
The illumination light 12 is composed of a light emitting device such as a white LED, for example, and has a function of emitting illumination light for photographing when an article image is photographed by the camera 11 in accordance with an instruction from the control unit 16.

The tag I / F unit 13 acquires a function of receiving a tag signal transmitted from a wireless tag attached to the article 41 and an article ID for identifying the article 41 included in the received tag signal. It has the function to do.
The wireless I / F unit 14 has a function of performing wireless communication with the article position management apparatus 20 via a communication network NW such as a wireless LAN or Bluetooth (registered trademark).

  The storage unit 15 includes a storage device such as a semiconductor memory or a hard disk, and has a function of storing various data and programs such as an article image captured by the camera 11 and an article ID acquired by the tag I / F unit 13. doing.

  The control unit 16 includes a control circuit such as a CPU and periodically moves in the facility 40 to capture an image of the article including the article 41 and the target 30 with respect to the camera 11 at different shooting positions and shooting directions. A function to instruct, a function to save the photographed article image and the article ID acquired by the tag I / F unit 13 at that time in the storage unit 15, and an article image stored in the storage unit 15 upon completion of the movement And the item ID are transmitted from the wireless I / F unit 14 to the item position management device 20 via the communication network NW.

[Goods position management device]
Next, the configuration of the article position management device 20 will be described in detail with reference to FIG. FIG. 6 is a block diagram illustrating a configuration of the article position management device.
The article position management device 20 includes, as main functional units, a wireless I / F unit 21, a communication I / F unit 22, an operation input unit 23, a screen display unit 24, a storage unit 25, an article management DB 26, and an arithmetic processing unit. 27 is provided.

The wireless I / F unit 21 has a function of performing wireless communication with the article information collection device 10 via the communication network NW.
The communication I / F unit 22 has a function of performing wired communication with an external terminal (not shown) that handles article positions via a communication line such as a LAN.

The operation input unit 23 includes an operation input device such as a keyboard, a mouse, and a touch panel, and has a function of detecting an operator operation and outputting the operation to the arithmetic processing unit 27.
The screen display unit 24 includes a screen display device such as an LCD, and has a function of displaying various data such as article position information output from the arithmetic processing unit 27 on the screen.

The storage unit 25 includes a storage device such as a semiconductor memory or a hard disk, and has a function of storing various processing information used for article position management processing in the arithmetic processing unit 27.
Main processing information stored in the storage unit 25 is target information 25A.

  The target information 25A is data indicating the correspondence between the identification code of the target 30 and the target installation position. FIG. 7 is a configuration example of target information. Here, for each target ID for identifying the target 30, an identification code composed of a combination of colors of the color mark 30A of the target 30, a target installation position indicating a position where the target 30 is installed, and the target 30 An arrangement area 42 in which is installed is registered.

  In the example of FIG. 7, the target 30 with the target ID “T1” has an identification code composed of the color markers 30A arranged in the order of “red”, “blue”, and “green” from the top. It is installed in “X1, Y1” in the preset reference coordinate system, and indicates that it is installed in the arrangement area “A1” among the arrangement areas 42 set in advance for the facility 40. Yes. FIG. 7 shows an example of the configuration of the target information 25A. Other than the correspondence between the identification code and the target installation position, the target information 25A may be changed as appropriate according to the application.

  The article management DB 26 is a database that includes a storage device such as a semiconductor memory or a hard disk, and stores various article management information related to each article 41 including the arrangement position obtained by the article position management process in the arithmetic processing unit 27. FIG. 8 is a configuration example of the article management DB according to the first embodiment. Here, for each article ID for identifying the article 41, various article management information such as an article name, a position, an arrangement area, and an article image are registered. FIG. 8 shows an example of the configuration of the article management DB 26. Other than the correspondence between the article ID and the arrangement position or the arrangement area, the article management DB 26 may be changed as appropriate according to the application.

The arithmetic processing unit 27 has a function of realizing various processing units used for the article position management process by executing a program with the CPU.
Main processing units realized by the arithmetic processing unit 27 include an article information acquisition unit 27A, an image processing unit 27B, an article position specifying unit 27C, an article ID specifying unit 27D, and a DB processing unit 27E.

  The article information acquisition unit 27A performs data communication with the article information collection device 10 via the wireless I / F unit 21 and the communication network NW, thereby the article information such as the article image and the article ID collected by the article information collection device 10. It has the function to acquire.

  The image processing unit 27B specifies the position and size of the target 30 on the article image related to the retroreflector 30B based on the difference image of the two article images that form a pair among the article images acquired by the article information acquisition unit 27A. And a function of extracting the color of the color mark 30A of the target 30 from the article image based on the position of the retroreflector 30B.

  The article position specifying unit 27C acquires, from the target information 25A of the storage unit 25, the target installation position corresponding to the identification code composed of a combination of these colors based on the color of the color mark 30A obtained by the image processing unit 27B. Based on the function, the function of calculating the shooting distance between the target 30 and the article information collection device 10 based on the size of the retro reflector 30B obtained by the image processing unit 27B, and the target installation position and shooting distance. The function of calculating the shooting position of the article information collecting apparatus 10 that shot the article image and the function of specifying the position of the article 41 arranged in the facility 40 based on the target installation position and the shooting position. Have.

  The article ID specifying unit 27D specifies the article ID of the article 41 whose position is specified by the article position specifying unit 27C based on the article image corresponding to the article ID among the article IDs acquired by the article information acquiring unit 27A. It has a function to do.

  The DB processing unit 27E associates the position of the article 41 specified by the article position specifying unit 27C with the article ID specified by the article ID specifying unit 27D and registers it in the article management DB 26, and the operation input unit 23. A function for editing the article management information regarding the article 41 registered in the article management DB 26 in accordance with the detected editing operation by the operator, and a corresponding article in accordance with the search operation by the operator detected by the operation input unit 23 A function for retrieving article management information such as a position related to 41 from the article management DB 26 and displaying the obtained search result on the screen display unit 24, and a search instruction input from an external device via the communication I / F unit 22 A function for searching for article management information such as a position related to the corresponding article 41 from the article management DB 26 and returning the obtained search result to an external device. The has.

[Operation of First Embodiment]
Next, as the operation of the article information management system 1 according to the present embodiment, an article information collection operation by the article information collection device 10 and an article management information registration operation by the article position management device 20 will be described.

[Product information collection operation]
First, an article information collecting operation by the article information collecting apparatus 10 according to the present embodiment will be described with reference to FIG. FIG. 9 is a flowchart illustrating an article information collection process according to the first embodiment.
When collecting the article information in the facility 40, the control unit 16 of the article information collecting apparatus 10 executes the article information collecting process of FIG. Here, as shown in FIG. 2, a case will be described as an example in which the article information collection device 10 runs in the facility 40 and collects article information at regular time intervals.

  First, the control unit 16 enters the facility 40, starts information collection and movement along the set route (step 100), waits for the collection timing to reach a certain time interval (step 101: NO), In accordance with the arrival of the collection timing (step 101: YES), by controlling the camera 11 and the illumination light 12, two article images are grouped when the illumination light is emitted from the illumination light 12 and when it is not emitted. (Step 102).

Further, the control unit 16 calls the wireless tag 41A of the article 41 from the tag I / F unit 13 at the time of shooting, and sets the article ID of the article 41 based on the tag signal returned from the wireless tag 41A accordingly. It acquires (step 103), matches these article images and article IDs, and stores them in the storage unit 15 (step 104).
Thereafter, the control unit 16 confirms whether or not the information collection / movement has been completed (step 105), and if not completed (step 105: NO), returns to step 101.

  On the other hand, when the information collection and movement is completed (step 105: YES), the control unit 16 uses the wireless I / F unit to store the article image and the article ID stored in the storage unit 15 at, for example, a place where the facility 40 has left. 14 is wirelessly transmitted to the article position management apparatus 20 via the communication network NW (step 106), and a series of article information collection processing ends.

[Goods management information registration operation]
Next, an article management information registration operation by the article position management apparatus 20 according to the present embodiment will be described with reference to FIG. FIG. 10 is a flowchart illustrating the article management information registration process according to the first embodiment.
The arithmetic processing unit 27 of the article position management apparatus 20 generates the article position management information based on the article information collected by the article information collection apparatus 10 and registers it in the article management DB 26 for each of the two article images forming a set. Then, the article management information registration process of FIG. 10 is executed. Here, the article information is acquired from the article information collection device 10 by the article information acquisition unit 27A and stored in the storage unit 25.

  First, the image processing unit 27B generates a differential image of two product images that form a pair among the product images included in the product information in the storage unit 25 (step 110), and based on the differential image, the target 30 The position and size of the retro reflector 30B on the article image are specified, and the color of the color mark 30A of the target 30 is specified from the article image based on the position of the retro reflector 30B (step 111).

  FIG. 11 is an example of generating a difference image. When the identification code of the target 30 included in the article image is specified, it is necessary to specify the position on the target 30 article image and detect the color of the pixel where each color indicator 30A is located. Here, generally, although the lighting equipment is installed in the facility 40 in which the article 41 is arranged, the brightness and color tone of the article image change depending on the positional relationship and orientation with the lighting equipment, There may be similar shaped articles. For this reason, it is difficult to specify the position of the target 30 in the article image based on one article image.

  Here, when a reflecting object having the property of reflecting light is photographed, the brightness of the reflecting object on the photographed image changes greatly depending on the presence or absence of illumination light. Therefore, the position of the reflecting object can be easily specified by comparing the captured images with and without illumination light. In the present invention, focusing on the identification of such a reflective object, a retroreflector 30B having a property of reflecting light is provided on the target 30, and the illumination light 12 is emitted and the illumination light 12 is not emitted. Two article images are photographed as a set, and the position and size of the retro reflector 30B on the article image are specified based on the difference image.

  In the example of FIG. 11, the difference between pixel values is calculated for each pixel between the article image with illumination shown in FIG. 11A and the article image without illumination shown in FIG. The difference image shown in (c) is generated. Thereby, the position and size of the retro reflector 30B can be easily specified from the difference image. Therefore, since the position of each color mark 30A can be estimated from the position of the retroreflector 30B, the color of the pixel existing at the position of each color mark 30A can be specified from, for example, an article image without illumination shown in FIG. Since the retro reflector 30B has a spherical shape, if the diameter (radius) is known, the distance from the camera 11 to the retro reflector 30B, that is, the shooting distance can be easily calculated.

  In this manner, after the position and size of the retro reflector 30B and the color of the color mark 30A are detected by the image processing unit 27B, the article position specifying unit 27C determines the color of the color mark 30A obtained by the image processing unit 27B. Based on the above, the target installation position corresponding to the identification code composed of the combination of these colors is acquired from the target information 25A in the storage unit 25 (step 112).

Further, the article position specifying unit 27C calculates the shooting distance between the target 30 and the article information collecting apparatus 10 based on the size of the retro reflector 30B obtained by the image processing unit 27B (Step 113). Based on the installation position and the shooting distance, the shooting position of the article information collecting apparatus 10 that shot the article image is calculated (step 114).
.

  FIG. 12 is a calculation example of the shooting position. Here, as shown in FIG. 11, a case where two articles T1 and T2 are included in one article image and the article 41 is arranged between them is described as an example.

When the coordinate position of the target T1 is X1, Y1, the coordinate position of the target T2 is X2, Y2, and the shooting distances to the targets T1, T2 are L1, L2, the shooting position P is a radius from the coordinate positions X1, Y1. It is located at the intersection of the arc C1 of L1 and the arc C1 of radius L2 from the coordinate position X2, Y2.
Accordingly, the coordinate positions Xp and Yp of the shooting position P can be obtained by simultaneously solving the expression (1) regarding the shooting distance L1 and the expression (2) regarding the shooting distance L2.
L1 ² = (X1−Xp) ² + (Y1−Yp) ² (1)
L2 ² = (X2−Xp) ² + (Y2−Yp) ² (2)

Thereafter, the article position specifying unit 27C specifies the position of the article 41 arranged in the facility 40 based on the target installation position and the photographing position (step 115).
At this time, if the position accuracy required for the article position management system 1 is relatively high, the target position T1, T2 and the priority position Q of the photographing position P shown in FIG. If the required position accuracy is relatively high, the shooting position P may be specified as the position of the article 41. If it is sufficient that the arrangement area 42 of the article 41 can be specified, the arrangement area 42 closest to the priority position Q or the shooting position P is selected based on the preset position information of the arrangement area 42. You may specify as a position.

  Further, the article ID specifying unit 27D specifies the article ID associated with the two article images forming the set used for the processing in the image processing unit 27B among the article IDs acquired by the article information acquiring unit 27A. The article ID of the article 41 whose position is specified by the section 27C is specified (step 116).

Thereafter, the DB processing unit 27E registers the position of the article 41 specified by the article position specifying unit 27C in the article management DB 26 in association with the article ID specified by the article ID specifying unit 27D (step 117). A series of article management information registration processing ends.
At this time, as shown in FIG. 8, the article image used for the processing may be associated and registered in the article management DB 26.

[Effect of the first embodiment]
As described above, in the present embodiment, a plurality of targets 30 that indicate unique identification codes corresponding to the installation positions are provided above the respective arrangement areas 42 where the articles 41 are arranged, and the article information collection apparatus 10 The article information used for specifying the position of the article 41 is collected from the facility 40 by periodically moving in the facility 40 and photographing the article image including the article 41 and the target 30.

  Then, the image processing unit 27B of the article position management device 20 specifies the position and size of the target 30 on the article image with respect to the retroreflector 30B based on the difference image between the two article images forming the set, and the retroreflector Based on the position of 30B, the color of the color mark 30A of the target 30 is extracted from the article image, and the article position specifying unit 27C acquires the target installation position corresponding to the identification code composed of the combination of these colors, and the retroreflector The photographing distance between the target 30 and the article information collecting device 10 is calculated based on the size of 30B, and the article information collecting device 10 photographing the article image based on the target installation position and the photographing distance. The position is calculated, and based on these target installation position and shooting position, the facility 40 The arrangement has been that the position of the article 41 is obtained so as to identify.

  As a result, the article information collection apparatus 10 automatically and periodically collects article images related to the articles 41 arranged in the facility 40, and these article images are subjected to image processing to specify the position of each article 41. Therefore, the position of the article 41 can be specified more accurately than in the case where the position of the article is detected based on the reception timing of the tag signal. Further, even when the arrangement position of the article 41 is changed manually, the registered contents of the article position management DB 26 can be matched with the arrangement position of the article 41 every time the article information is automatically collected. It is possible to provide an article position management system.

  In the present embodiment, when the article information collection device 10 captures an article image, the article ID of the article 41 transmitted from the wireless tag attached to the article 41 is acquired in association with the article. The article ID specifying unit 27D of the article position management apparatus 20 selects the article ID associated with the article image used for specifying the position of the article 41 among the article IDs collected by the article information collecting apparatus 10. And the DB processing unit 27E of the article position management device 20 associates the position of the article 41 specified by the article position specifying unit 27C with the article ID specified by the article ID specifying unit 27D. You may make it register into management DB26.

  As a result, when the wireless tag is attached to the article, the position of the article 41 specified from the article image is automatically associated with the article ID received when the article image is captured and registered in the article position management DB 26. Compared with the case where the article ID of the article is specified manually from the article image, the work load required for article management can be reduced.

Further, in the present embodiment, the article information collection device 10 periodically runs in the facility 40 and includes an article 41 arranged in each arrangement area 42 and the target 30 of the arrangement area 42. Is used to collect article information used for specifying the position of the article 41 from the facility 42.
Therefore, even when the arrangement position of the article 41 is changed manually, the registered content of the article position management DB 26 can be matched with the arrangement position of the article 41 every time the article information is automatically collected. It is possible to provide an article position management system.

[Second Embodiment]
Next, an article position management system 1 according to a second embodiment of the present invention will be described.
In the first embodiment, the article information collection device 10 is self-propelled in the facility 40 or is mounted on a device guided by a person and periodically moves in the facility 40, thereby specifying the position of the article 41. The case of collecting these product information used in the above has been described as an example. In the present embodiment, a case where the article information collection device 10 is mounted on a forklift 60 that transports the article 41 will be described as an example.

  FIG. 13 is an external view of a forklift. The forklift 60 according to the present embodiment includes an article information collection device 50 that collects the article information used for specifying the position of the article 41 from the facility 40, a camera 51 that captures an article image including the article 41 and the target 30, and An illumination light 52 that emits illumination light for photographing and a scale 57 that measures the weight of the article 41 lifted by the fork 61 when an article image is photographed by the camera 51 are provided.

FIG. 14 is a block diagram illustrating a configuration of an article information collection device according to the second embodiment.
The article information collecting apparatus 50 includes, as main functional units, a camera 51, an illumination light 52, a tag I / F unit 53, a wireless I / F unit 54, a storage unit 55, a control unit 56, a scale 57, and an operation input unit. 58 is provided.
Among these functional units, the tag I / F unit 53, the wireless I / F unit 54, the storage unit 55, and the control unit 56 are the tag I / F unit 13, the wireless I / F unit 14, the storage unit 15, and the like described above. It is equivalent to the control unit 16.

[Operation of Second Embodiment]
Next, an article information collecting operation by the article information collecting apparatus 10 will be described as an operation of the article information management system 1 according to the present embodiment with reference to FIG. FIG. 15 is a flowchart illustrating an article information collection process according to the second embodiment. The article position management device 20 and the article management information registration operation are the same as those in the first embodiment.

  First, the driver of the forklift 60 moves to the arrangement area 42 in which the article 41 is arranged, and measures with the operation input unit 58 of the article information collection device 50 before the fork 61 is lowered and the article 41 is arranged in the arrangement area 42. Perform instruction operation. The control unit 56 of the article information collection device 50 measures the weight of the article 41 lifted by the scale 57 in accordance with the measurement instruction operation input by the operation input unit 58 (step 200) (step 201).

  Subsequently, the driver arranges the article 41 in the arrangement area 42 and then performs an information collection instruction operation with the operation input unit 58 of the article information collection device 50. The control unit 56 controls the camera 51 and the illumination light 52 in accordance with the information collection instruction operation input by the operation input unit 58 (step 202), and emits the illumination light from the illumination light 52 and when it is emitted. Two article images in the case of not being taken are photographed as a set (step 203).

Further, the control unit 56 acquires the article ID of the article 41 based on the tag signal from the article 41 received by the tag I / F unit 53 at the time of shooting (step 204), and associates the article image with the article ID. And stored in the storage unit 55 (step 205).
Thereafter, the driver repeatedly transports the other articles 41 when the transportation of the articles 41 is not completed.

  On the other hand, when the transportation of the article 41 is completed, the driver performs an information collection end operation using the operation input unit 58 after moving to a place where the driver has left the facility 40, for example. In response to the information collection end operation input from the operation input unit 58 (step 206), the control unit 56 displays the article image, the article ID, and the weight stored in the storage unit 55 from the wireless I / F unit 54. Wireless transmission is performed to the article position management apparatus 20 via the communication network NW (step 207), and a series of article information collection processing is terminated.

In this way, the article information collected by the article information collecting apparatus 50 mounted on the forklift 60 is wirelessly transmitted to the article position management apparatus 20 and is performed by the DB processing unit 27E in the same manner as in the first embodiment. Registered in the article management DB 26.
FIG. 16 is a configuration example of an article management DB according to the second embodiment. Here, in addition to the article name, position, arrangement area, and article image, the weight measured by the scale 57 of the forklift 60 is registered as article management information for each article ID for identifying the article 41. Therefore, by searching the article management DB 26, it is possible to accurately specify the arrangement position of the designated article 41, and also to check the weight of the article 41 required when the article 41 is transported, which is an extremely useful article position management system. Can be realized.

  Thus, in the present embodiment, the article information collection device 50 is mounted on the forklift 60 that transports the article 41 in the facility 40, and the article 41 is arranged in the arrangement area 42 by the forklift 60. In addition to acquiring the weight of the article measured by the scale 57 of the forklift 60 and arranging the article 41 in the arrangement area 42 by the forklift 60, the article image including the article 41 and the target of the arrangement area 42 is obtained. Is used to collect article information used for specifying the position of the article from the facility.

As a result, the article information collection device 10 is self-propelled in the facility 40 or is mounted on a device that is guided by a person and periodically moves in the facility 40, so that the article information used for specifying the position of the article 41 is used. Compared with the case of collecting the article information, the article information can be collected simultaneously with the arrangement of the article 41, and the cost and work load required for collecting the article information can be reduced.
Further, the weight of the article 41 can be collected as the article information, and information necessary for the transportation of the article 41 can be easily collected.

[Extended embodiment]
The present invention has been described above with reference to the embodiments, but the present invention is not limited to the above embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention. In addition, each embodiment can be implemented in any combination within a consistent range.

  DESCRIPTION OF SYMBOLS 1 ... Goods position management system 10, 50 ... Goods information collection device 11, 51 ... Camera, 12, 52 ... Illumination light, 13, 53 ... Tag I / F part, 14, 54 ... Wireless I / F part, 15 , 55 ... storage section, 16, 56 ... control section, 20 ... article position management device, 21 ... wireless I / F section, 22 ... communication I / F section, 23 ... operation input section, 24 ... screen display section, 25 ... Storage section, 25A ... target information, 26 ... article management DB, 27 ... arithmetic processing section, 27A ... article information acquisition section, 27B ... image processing section, 27C ... article position specifying section, 27D ... article ID specifying section, 27E ... DB Processing unit, 30 ... target, 30A ... color sign, 30B ... retro reflector, 30C ... pole, 30D ... sign, 31 ... ceiling, 40 ... facility, 41 ... article, 41A ... wireless tag, 41B ... dot, 42 ... arrangement Area 5, ... scale, 60 ... forklift, 61 ... fork, NW ... communication network.

Claims (8)

An article position management system that manages positions of a plurality of articles arranged in a facility,
A plurality of targets that are respectively installed at positions above each placement area where the article is placed, and that display unique identification codes corresponding to these placement positions;
An article information collecting device that collects article information used for specifying the position of the article from the facility by photographing an article image including the article and the target;
An article position management device that identifies the position of the article based on the article image collected by the article information collection device;
The target is composed of a plurality of color markers that are each labeled with a unique color constituting the identification code and connected in the vertical direction, and a retro reflector that reflects the emitted illumination light toward the irradiation source,
The article information collecting apparatus includes an illumination light that emits illumination light for photographing, and when photographing the article image, the illumination information is emitted from the illumination light when the article image is photographed at the same photographing position and the same photographing direction. Take two product images as a set when not doing,
The article position management device includes:
The position and size of the target retro-reflector on the article image are specified based on the difference image of the two article images forming the set, and the color indicator of the target is identified from the article image based on the position of the retro-reflector. An image processing unit for extracting colors;
A target installation position corresponding to an identification code composed of a combination of these colors is acquired, and a shooting distance between the target and the article information collection device is calculated based on the size of the retroreflector. An article that calculates the shooting position of the article information collection device that has shot the article image based on the distance, and identifies the position of the article that is placed in the facility based on the target installation position and the shooting position An article position management system comprising: a position specifying unit. In the article position management system according to claim 1,
The article information collection device acquires the article ID of the article transmitted from the wireless tag attached to the article in association with the article when photographing the article image,
The article position management device includes:
An article ID identifying unit that identifies the article ID associated with the article image used for specifying the position of the article among the article IDs collected by the article information collection device, as an article ID of the article;
An article further comprising: a DB processing section that registers the article position identified by the article position identification section in the article position management DB in association with the article ID identified by the article ID identification section. Location management system. In the article position management system according to claim 1 or 2,
The color marker has an article position management system in which a horizontal section has a substantially circular shape or a substantially polygonal shape. In the article position management system according to any one of claims 1 to 3,
The article information collection device periodically self-propels in the facility and shoots an article image including the article arranged in each arrangement area and a target of the arrangement area, from the facility. An article position management system for collecting article information used for specifying the position of an article. In the article position management system according to any one of claims 1 to 3,
The article information collection device is mounted on a forklift that transports the article in the facility, and after the article is arranged in the arrangement area by the forklift, an article image including the article and a target of the arrangement area The article position management system, wherein article information used for specifying the position of the article is collected from the facility. In the article position management system according to claim 5,
The article information collecting apparatus acquires the weight of the article measured by the scale of the forklift when the article is arranged in the arrangement area by the forklift, and includes the article information in the article information. .   An article position management device used in the article position management system according to claim 1.   An article information collecting device used in the article position management system according to claim 1.

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