JP6562716B2 - Information processing apparatus, information processing method, program, and forklift - Google Patents

Description

  The present invention relates to an information processing apparatus that manages merchandise.

  In the conventional information processing apparatus, when the article IC tag and the place IC tag are read by the IC tag reader when going around the place, the place IC tag is installed in the management target part A to which the article IC tag is attached. In the inventory management system that determines that the item is stored in the storage area, when a plurality of location IC tags are read by the IC tag reader, a graph of the reception intensity and the elapsed reception time regarding the article IC tag, and reception regarding the location IC tag It has been known that it is determined that the management target part A is stored in the place where the place IC tag having the larger overlap area with the graph of the strength and the elapsed reception time is installed (for example, see Patent Document 1). ).

JP 2014-58403 A (first page, FIG. 1 etc.)

  However, the conventional technology has a problem that it is impossible to appropriately grasp the movement of the product.

  For example, since the information transmitted from the IC tag is not high in directivity as in the conventional technology, even if it is attempted to identify the article to be moved by reading the IC tag attached to the article to be moved, It is possible to erroneously detect not only the IC tag of the article attached to the article to be moved but also the IC tag of the article other than the article to be moved located in the vicinity of the article as the IC tag of the article to be moved. As a result, there is a problem that the article to be moved may not be accurately identified.

  Similarly, there is a problem that it is difficult to determine from which position the information transmitted from the IC tag is transmitted, and it is difficult to specify the position where the article is placed.

  Further, in the related art, since the IC tag is used to manage the position of the moving object such as an article, there is a problem that the movement of the product cannot be grasped at a low cost.

  For example, as in the prior art, in order to grasp the movement of an article with an IC tag, it is necessary to attach a relatively expensive IC tag to the article to be managed. There was a problem that the presence or absence could not be grasped at low cost.

  In addition, it is necessary to newly install a dedicated IC tag reader / writer, an antenna used for communication with the IC tag, etc., and there is a problem that the introduction cost becomes high.

  The present invention has been made to solve the above-described problems, and an object thereof is to provide an information processing apparatus and the like that can appropriately grasp the position of a moving object at a low cost.

  An information processing apparatus according to the present invention is a captured image that is a captured image that is an image captured by one or more cameras installed on a forklift, and that captures a captured image of an area where one or more codes are arranged; and An identifier acquisition unit that acquires one or more object identifiers that are identifiers of moving objects associated with one or more codes in the captured image using the captured image, and an object identifier acquired by the identifier acquisition unit Is an information processing apparatus provided with an output unit that outputs.

  With this configuration, the moving object moving by the forklift can be automatically detected by reading the code of the moving object using an image photographed by a camera provided on the forklift that moves the moving object. It is possible to appropriately grasp the movement of objects at a low cost.

  In the information processing apparatus according to the present invention, in the information processing apparatus, the identifier acquisition unit is an identifier of a location associated with one or more codes in the photographed image, and the one or more loaded on the forklift Information processing that acquires a post-movement location identifier that is an identifier indicating a post-movement location where the moving object is lowered, and the output unit associates and outputs the post-movement location identifier acquired by the identifier acquisition unit and the target object identifier Device.

  With such a configuration, the moved moving object and the moved position of the moving object are read by reading the code of the moved position from the image taken by the camera attached to the forklift that moves the moving object. Can be acquired in association with each other automatically, and the location after the movement of the moving object can be appropriately grasped at low cost.

  Further, in the information processing apparatus of the present invention, in the information processing apparatus, the identifier acquisition unit is an identifier of a location associated with one or more codes in the captured image, and the forklift detects one or more moving objects. A pre-movement location identifier that is an identifier indicating a loaded pre-movement location is acquired, and the output unit is an information processing apparatus that outputs the pre-movement location identifier acquired by the identifier acquisition unit and the object identifier in association with each other.

  With such a configuration, by moving the code of the location before the movement from the image captured by the camera attached to the forklift that moves the movement target, the moved movement target and the location before the movement of the movement target Can be acquired automatically in association with each other, and the location of the moving object before moving can be appropriately grasped at low cost.

  In the information processing apparatus according to the present invention, in the information processing apparatus, the photographed image receiving unit accepts a photographed image obtained by photographing an area where two or more different codes are arranged, and the identifier obtaining unit includes two images in the photographed image. This is an information processing apparatus that acquires one place identifier using the above different codes.

  With such a configuration, a plurality of locations can be indicated by a combination of two or more codes, and the number of codes prepared in advance can be reduced.

  In the information processing apparatus of the present invention, in the information processing apparatus, the captured image reception unit receives two or more captured images captured by two or more cameras, and the identifier acquisition unit receives the captured image reception unit. This is an information processing apparatus that acquires one place identifier using two or more codes in two or more captured images.

  With such a configuration, it is possible to indicate a plurality of locations by a combination of two or more codes captured in a captured image captured by two or more cameras, reduce the number of codes prepared in advance, and capture Since the camera can identify how to combine the codes acquired from the captured image, the processing speed when acquiring the location identifier from the combination of codes can be improved.

  Moreover, the forklift of this invention is a forklift provided with the camera which outputs a picked-up image with respect to the said information processing apparatus.

  With this configuration, it is possible to appropriately grasp the movement of the moving object at low cost by the information processing apparatus using the image captured by the forklift.

  According to the information processing apparatus and the like according to the present invention, the position of the moving object can be appropriately managed at a low cost.

Block diagram of an information processing system in an embodiment of the present invention The figure which shows the state which lowered the fork of the forklift with which the camera of the information processing system was attached (FIG. 2 (a)), and the figure which shows the lower surface side of the fork (FIG.2 (b)) A flowchart for explaining the operation of the information processing apparatus of the information processing system A diagram showing an example of a situation in which the information processing system is used (FIG. 4A) and a diagram showing an example of a code used in the information processing system 1000 (FIG. 4B) The figure which shows the object identifier management information of the information processing apparatus of the information processing system The figure which shows the location identifier management information of the information processing apparatus of the information processing system A schematic diagram (FIG. 7A) showing a state where the forklift is moved for explaining the information processing system, and a diagram showing an image taken by the first camera in this state (FIG. 7B) The figure which shows the picked-up image which the 2nd camera of the information processing apparatus of the same information processing system photographed (Figure 8 (a)), the figure which shows the photographed picture which the 3rd camera photographed (Figure 8 (b)) The figure which shows the output example of the information processing apparatus of the information processing system The figure which shows an example of the external appearance of the computer system in embodiment of this invention The figure which shows an example of a structure of the computer system in the embodiment

  Hereinafter, embodiments of an information processing apparatus and the like will be described with reference to the drawings. In addition, since the component which attached | subjected the same code | symbol in embodiment performs the same operation | movement, description may be abbreviate | omitted again.

(Embodiment)
FIG. 1 is a block diagram of an information processing system 1000 in the present embodiment.

  FIG. 2 is a diagram showing a state in which the fork is lowered (FIG. 2A) of the forklift to which the camera 2 of the information processing system 1000 according to the present embodiment is attached. (B)).

  The information processing system 1000 includes an information processing apparatus 1 and one or more cameras 2. The information processing apparatus 1 and the camera 2 are connected by wired connection or wireless connection. The information processing apparatus 1 and the camera 2 may be connected via a wired or wireless network or a communication line. Further, the information processing system 1000 may include a plurality of cameras 2. Here, a case where the information processing system 1000 includes a first camera 2a, a second camera 2b, and a third camera 2c as a plurality of cameras 2 will be described as an example.

  Note that the information processing system 1000 may be considered to include the forklift 3 on which the camera 2 is installed.

  The information processing apparatus 1 includes a captured image reception unit 101, an object identifier storage unit 102, a location identifier storage unit 103, an identifier acquisition unit 104, and an output unit 105.

  The camera 2 acquires a captured image obtained by capturing an area where one or more codes are arranged, and outputs the captured image to the information processing apparatus 1. The code will be described later. The captured image is an image captured by the camera 2. The captured image is usually a moving image composed of one or two or more frame images, but may be a plurality of continuous still images captured at a predetermined time interval. The captured image may be considered as one or two or more frame images constituting a moving image. The camera 2 is a camera provided with an image sensor such as a CCD or CMOS. The camera may be a camera that captures a moving image or a camera that captures a still image. The camera 2 includes, for example, a transmission unit (not shown) for transmitting a captured image that is a captured image to the information processing apparatus 1. When transmitting a captured image or the like by wireless communication, the transmission unit may include a wireless communication unit (not shown). The file format of the captured image transmitted by the camera 2 and the compression method are not limited.

  The timing at which the camera 2 captures an image may be any timing. For example, the camera 2 may always take an image. The camera 2 may capture an image when the fork 3a of the forklift 3 is raised or lowered. The fork of the forklift 3 may be called a claw, for example. When the fork 3a is raised or lowered, for example, the forklift 3 is designated in advance after the time when the user of the forklift 3 raises the fork or lowers the fork 3a. Period. For example, when an operation receiving unit (not shown) of the forklift 3 receives an operation for raising or lowering the fork via an operation lever, a button, a handle, or the like, Information indicating that an operation to raise or lower 3a is accepted may be transmitted, and the camera 2 may take an image when the accepting unit accepts this information. Alternatively, the operation reception unit may transmit an instruction to perform shooting to the camera 2 when an operation for raising or lowering the fork is received. Alternatively, a control unit (not shown) for raising and lowering the fork of the forklift 3 transmits information indicating that the fork 3a is raised or lowered to the information processing apparatus 1 when the fork 3a is raised or lowered. Thus, when this information is received by a receiving unit (not shown), the camera 2 may take an image, and instead of this information, an instruction to take a picture is transmitted to the information processing apparatus 1. The camera 2 may take an image when the receiving unit (not shown) receives the instruction.

  Moreover, the timing etc. which the camera 2 transmits a picked-up image to the information processing apparatus 1 do not ask | require. For example, when the image captured by the camera 2 is a moving image, the moving image obtained by shooting or one or more frame images may be sequentially transmitted to the information processing apparatus 1 in real time. A moving image or a frame image accumulated in a storage unit (not shown) may be collectively transmitted to the information processing apparatus 1 at a timing designated in advance.

  The camera 2 is attached to the forklift 3. The forklift 3 includes one or more cameras that output captured images to the information processing apparatus 1. The output here is normally transmission. The forklift 3 is, for example, a cargo handling vehicle provided with a fork 3a for receiving cargo that can be moved up and down and inclined by hydraulic pressure or the like. For example, one or more cameras 2 are attached to one forklift 3. For example, the one or more cameras 2 attached to the forklift 3 are installed such that the front direction of the forklift 3 is an imaging region.

  A plurality of cameras 2 may be installed with respect to one forklift 3 so that different areas become imaging areas. For example, if one of the cameras 2 attached to the forklift 3 is the first camera 2a as described above, the first camera 2a is located above the forklift 3 (for example, the roof 31) as shown in FIG. In addition, the imaging area 32 may be installed so as to be an area in front of the forklift 3. For example, when placing a product placed on a pallet or the like on the forklift 3, for example, the first camera 2a is installed so that at least an area where a code of the product to be loaded and the pallet is arranged can be photographed. . As shown in FIG. 2, the second camera 2 b as another camera 2 may be installed on the roof 31 of the forklift 3 such that the area above the front of the forklift is the imaging area 33. As another camera 2, a third camera 2 c may be installed on the lower surface of the fork 3 a of the forklift 3 so that the lower direction of the fork 3 a becomes the imaging region 34.

  When the information processing system 1000 includes a plurality of cameras 2, an identifier of the camera 2 is associated with each camera 2, and a photographed image or the like transmitted by each camera 2 includes the transmission source camera 2. The identifier of the transmission source camera 2 may be included so that it can be identified.

  The information processing apparatus 1 is realized by, for example, a computer or a portable information terminal. The information processing apparatus 1 may be installed on the same forklift 3 as the camera 2 or may not be installed on the forklift 3. For example, the information processing apparatus 1 may be carried by the user, or may be installed so as to be able to communicate with the camera 2 or the like at an arbitrary place.

  The captured image receiving unit 101 receives a captured image captured by one or more cameras 2 installed on the forklift 3 and captured an area where one or more codes are arranged. For example, the photographed image receiving unit 101 receives a photographed image transmitted by the camera 2 through wireless communication or wired communication.

  The code may be anything that can be identified, such as a barcode, a two-dimensional barcode, a QR code (registered trademark), a chameleon code, a character string, and a numeric string. The code is preferably a two-dimensional code having a color arrangement as identification information, such as a chameleon code. The code is arranged, for example, at a location where the moving object or the moving object is installed, in the vicinity thereof, or the like. The code may be printed directly on the moving object. Further, a code printed on a sheet, a sticker, or the like may be attached to the moving object or place.

  The code is associated with an object to be recognized using the code, such as a moving object or a place. Specifically, the code is associated with an identifier of an object to be recognized using the code, such as an identifier of a moving object and an identifier of a place. The moving object is an object to be moved by the forklift 3, for example. The location is a destination or a source location when the moving object is moved. For example, this place is a plurality of places in a warehouse or factory site.

  The fact that the code is associated with the identifier of the object to be recognized using the code means that, for example, the information read from the code is associated with the identifier of the recognition object such as the moving object or the location. There may be. For example, by storing in advance a storage unit or the like (not shown) having information associated with information read from a code (for example, a code identifier) and a recognition target identifier, the code, the recognition target identifier, May be managed in association with each other. Further, the information itself read from the code may be a recognition target identifier. For example, the identifier read from the code may be a recognition target identifier.

  The photographed image receiving unit 101 captures, for example, a photographed image obtained by photographing a region where one or more codes associated with a moving object are photographed as a photographed image obtained by photographing a region where one or two or more codes are disposed. Accept. The code associated with the moving object may be a code in which the identifier read from this code is associated with the identifier of the moving object, and the identifier itself read from the code is the code of the moving object. It may be a code that is an identifier. Here, the code associated with the moving object is hereinafter referred to as an object code. Further, the identifier of the moving object is hereinafter referred to as an object identifier. The object identifier is, for example, a product number, a product code, a product management number, a product name, or the like. An identifier read from the code is hereinafter referred to as a code identifier. The code identifier is one of identifiers associated with codes.

  The photographed image receiving unit 101 accepts, for example, a photographed image obtained by photographing a region where one or more codes associated with a place are photographed as a photographed image obtained by photographing a region where one or more codes are arranged. Also good. The code associated with a place may be a code identifier that is an identifier read from the code, and may be a code that is associated with a location identifier, and the identifier itself read from the code is the identifier of the place It may be a code. A code associated with a place is hereinafter referred to as a place code. The place identifier is hereinafter referred to as a place identifier. The place identifier is, for example, a place name or an area code assigned to the area.

  The object code and the location code are usually codes having the same system, but may be codes having different systems. Codes having the same system are, for example, codes of the same type or codes having the same attributes. The same type of code is a code having the same mechanism, algorithm, and the like when reading the code, such as a color code and a barcode. For example, when the code is a color code, the code having the same attribute is a color code having the same type of usable color and the same number of columns and rows of arranged colors.

  In the following description, for convenience of explanation, a case where the code identifier is associated with the identifier of the moving object or the location identifier is described as an example. Specifically, the code identifier associated with the object code is associated with the identifier of the moving object, and the code identifier associated with the location code is associated with the identifier of the moving object. An example will be described.

  The captured image receiving unit 101 may receive a captured image obtained by capturing an area where two or more codes are arranged with one camera 2. For example, the captured image reception unit 101 captures an area where one or more object codes and one or more place codes are captured as a captured image obtained by capturing an area where two or more codes are disposed. Images may be accepted. Further, the two or more codes photographed in the photographed image may be codes having different systems, or may be codes having the same system.

  The captured image reception unit 101 may receive two or more captured images captured by the two or more cameras 2. For example, the captured image reception unit 101 may receive captured images captured by a plurality of cameras 2 at the same time. The plurality of cameras 2 may shoot different areas, or may shoot areas at least partially overlapping. When accepting captured images captured by two or more cameras 2, the captured image receiving unit 101 may receive captured images associated with the identifiers of the cameras 2 that captured the captured images.

  In addition, the captured image reception unit 101 is, for example, at least two of a frame image in which the object code is captured, a frame image in which the location code is captured, and a frame image in which the target code and the location code are captured. A moving image including the above frame image may be received.

  For example, the photographed image receiving unit 101 includes a photographed image obtained by photographing the object code by the first camera 2a provided in front of the forklift 3, and a third camera 2c installed on the lower surface of the fork 3a of the forklift 3. You may each accept the picked-up image which image | photographed the place code.

  Note that the photographed image receiving unit 101 may receive a photographed image obtained by photographing a region where two or more different codes associated with one place identifier are arranged. Each code in such a case may be considered as a location code. For example, the photographed image receiving unit 101 may receive a photographed image obtained by photographing a code that is two or more different codes and a combination of the two or more codes is associated with one place identifier.

  For example, when information associated with two codes (for example, an identifier read from the code) indicates row numbers and column numbers of a plurality of location identifiers arranged in a matrix having rows and columns, One place identifier specified by a row and a column corresponding to these two different codes is one place identifier associated with a combination of these two codes.

  Also, the information associated with the first code is an identifier (for example, first floor, second floor, etc.) indicating the higher classification of the place, and the information associated with the second code is the lower rank of the place When it is an identifier indicating a classification (for example, storage area A, storage area B, etc.), one place identifier (for example, first floor storage area B, etc.) indicated by the combination of the first code and the second code is , A location identifier associated with two or more different codes.

  Further, two or more different codes associated with one place identifier may be taken by two or more cameras 2 provided on the forklift 3, respectively. For example, the second camera 2b for photographing the front upper part of the forklift 3 provided on the forklift 3 and the third camera 2c installed on the lower surface of the fork 3a of the forklift 3 are respectively acquired from the photographed images. The photographed image receiving unit 101 may receive two or more different codes associated with a single location identifier.

  Note that the photographed image receiving unit 101 may receive a photographed image obtained by photographing a region where two or more different codes associated with one target identifier are arranged, as described above.

  The timing at which the captured image receiving unit 101 receives the captured image may be any timing. For example, when the camera 2 transmits a captured image, the transmitted captured image may be received. Moreover, when the camera 2 is always capturing images, the captured images may be received when the fork 3a of the forklift 3 is raised or lowered. A configuration for receiving a photographed image when the fork is raised or lowered, or a photographed image is taken when the camera 2 described above raises or lowers the fork 3a of the forklift 3. This is the same as the configuration for. For example, an operation reception unit or control unit (not shown) of the forklift 3 transmits an instruction to receive a captured image to the captured image reception unit 101 instead of transmitting an instruction to start shooting to the camera 2, or receives an reception (not illustrated). What is necessary is just to output the information etc. which show that a fork is raised / lowered to a part.

  Needless to say, the photographed image receiving unit 101 may also accept a photographed image obtained by photographing a region where no code is arranged.

  The acceptance here means acceptance of a photographed image that is captured and output by one or more cameras 2, reception of information transmitted from one or more cameras 2 or the like via a wired or wireless communication line, and photographing by camera 2 This is a concept including reading out of a captured image accumulated from a recording medium such as a semiconductor memory.

  The captured image receiving unit 101 can be realized by a wireless or wired communication unit, an input interface, or the like. The photographed image receiving unit 101 can be realized by, for example, a device driver of communication means.

  The object identifier storage unit 102 stores at least one set of a code identifier associated with the object code and an object identifier.

  The object identifier storage unit 102 is preferably a non-volatile recording medium, but can also be realized by a volatile recording medium. The same applies to other storage units.

  The location identifier storage unit 103 stores one or more sets of a code identifier associated with a location code and a location identifier. When a combination of two or more place codes is associated with one place identifier, one or more sets of the code identifier and the place identifier stored in the place identifier storage unit 103 are two or more codes. It may be one or more sets of identifiers and one location identifier.

  The identifier acquisition unit 104 uses the captured image received by the captured image reception unit 101 to acquire one or more object identifiers associated with one or more codes in the captured image. Hereinafter, an example of the process for acquiring the object identifier will be briefly described.

  First, the identifier acquisition unit 104 detects one or more codes in the captured image received by the captured image reception unit 101, for example. The code detection here may be considered to detect a code image or a code area. For example, when the captured image is a moving image, the identifier acquisition unit 104 binarizes the frame image received by the captured image reception unit 101 and performs processing such as pattern matching and feature amount detection to detect the outer frame of the code. The area in which the code in the photographed image is arranged is detected. Then, an image of the detected code is acquired. The same applies when the captured image is a still image.

  The identifier acquisition unit 104 reads a code using the acquired code image, and acquires a code identifier associated with the code. Reading the code means, for example, by recognizing the character of the code, the arrangement pattern of the color and shape constituting the code from the code image, and acquiring information such as an identifier corresponding to the recognition result. is there. In addition, since the process etc. which detect a code | cord | chord from a picked-up image and acquire a code | cord identifier are well-known techniques, detailed description is abbreviate | omitted here. Further, the identifier acquisition unit 104 may appropriately correct the shape of the acquired code image and acquire the code identifier from the corrected image.

  The identifier acquisition unit 104 detects a code identifier that matches the acquired code identifier in the code identifier associated with the object code stored in the object identifier storage unit 102. The match here is usually complete match, but may be partial match. When a matching code identifier is detected, an object identifier that is paired with the detected code identifier is acquired. Further, if no matching code identifier is detected, the object identifier is not acquired. The case where the matching code identifier is not detected is, for example, a case where the code detected from the captured image is not an object code, or a case where the detected code is not stored in the object identifier storage unit 102.

  The identifier acquisition unit 104 may detect images of a plurality of codes from one captured image and acquire an image of each code. When images of a plurality of codes are detected, for example, a code identifier may be acquired for each code image, and an object identifier corresponding to each code identifier may be acquired.

  In addition, the identifier acquisition unit 104 may further acquire one or more location identifiers respectively associated with one or more codes in the captured image using the captured image received by the captured image reception unit 101. This process matches, for example, the code identifier associated with the object code stored in the object identifier storage unit 102 in the same process as the process of acquiring the object identifier using the captured image described above. Instead of the process of detecting the code identifier, a code identifier that matches in the code identifier associated with the location code stored in the location identifier storage unit 103 is detected, and the location identifier paired with the detected code identifier is This can be realized by acquiring the location identifier storage unit 103.

  When performing the process of acquiring the object identifier and the process of acquiring the location identifier for the same captured image, the process of detecting the code from the captured image and acquiring the code identifier is performed only once. For example, using the acquired code identifier, a process of acquiring an object identifier corresponding to the code identifier and a process of acquiring a location identifier corresponding to the code identifier are performed in a predetermined order. You may do it.

  The identifier acquisition unit 104 is an identifier of a location that is associated with one or more codes in the captured image, and is an identifier that indicates a location after moving the one or more moving objects loaded on the forklift 3. You may make it acquire a certain post-movement location identifier. The post-movement location identifier is, for example, a location identifier acquired when the moving object is lowered to the destination location. The post-movement location identifier is the same identifier as the location identifier. The process for acquiring the post-movement location identifier from the photographed image is performed, for example, by the same process as the process for acquiring the location identifier described above. Since the object is moved down to the moving destination or the destination location, the place where the moving target is lowered may be regarded as the destination location.

  The time when the moving object is lowered is a concept including a predesignated period immediately before and immediately after the time when the forklift 3 lowers the moving object. The period designated in advance is usually within several tens of seconds, but the time may be appropriately set according to the moving object, the place where the movement is performed, and the like. The time point at which the forklift 3 lowers the one or more moving objects loaded may be considered as the time point at which the forklift 3 is considered to lower the one or more moving objects loaded. The time point when the forklift 3 lowers one or more moving objects loaded may be considered, for example, the time when the forklift 3 lowers the fork 3a. Immediately after the forklift 3 raises the fork, It may be considered as the time when the fork 3a is lowered or the time when the fork 3a is lowered after the identifier acquisition unit 104 once acquires the object identifier. Alternatively, when the user inputs information indicating that the loaded one or more moving objects have been lowered to a not-shown reception unit or the like of the information processing apparatus 1, the forklift 3 loads one or more loaded It may be considered that the moving object is lowered. It is possible to appropriately change what kind of situation the forklift 3 handles as a point in time when the loaded one or more moving objects are lowered.

  As a result, the identifier acquisition unit 104 only needs to be able to acquire the post-movement location identifier of the destination location where one or more moving objects loaded on the forklift 3 are lowered. For example, when the one or more moving objects loaded on the forklift 3 are lowered at the destination location, the identifier acquisition unit 104 performs the same processing as the processing for acquiring the location identifier to acquire the post-movement location identifier. You may do it. Also, one or more moving objects loaded on the forklift 3 among the place identifiers acquired by the process of reading from the photographed image the code that the identifier acquiring unit 104 repeatedly executes at predetermined or indefinite time intervals specified in advance. The location identifier acquired when the object is dropped at the destination location may be considered as the post-movement location identifier acquired by the identifier acquisition unit 104.

  For example, the identifier acquisition unit 104 determines whether or not one or more moving objects loaded on the forklift 3 have been lowered at the destination location, and acquires the post-movement location identifier when it is lowered. Alternatively, the post-movement location identifier may be acquired without determining whether or not one or more moving objects loaded on the forklift 3 are lowered at the destination location.

  It does not matter how the identifier acquisition unit 104 acquires a post-movement location identifier for a location where one or more moving objects loaded on the forklift 3 are to be lowered.

  For example, the identifier acquisition unit 104 determines whether or not a reception unit (not shown) has received information indicating that an operation or control for lowering the fork 3a has been performed from an operation reception unit or a control unit (not shown) of the forklift 3. When accepted, the post-movement location identifier may be acquired by performing processing similar to the processing for acquiring the location identifier.

  Further, for example, when a reception unit (not shown) receives information indicating that the operation or control for lowering the fork 3a from the forklift 3 has been performed, whether or not the object identifier has been acquired at that time. The location identifier after movement may be acquired only when it is determined that it has been acquired.

  In addition, for example, the identifier acquisition unit 104 determines whether or not a reception unit (not shown) has received information indicating that a moving object that has been loaded has been dropped from the user. An identifier may be acquired.

  In addition, for example, the camera 2 that captures the code acquires a captured image only when the forklift 3 lowers the fork 3a or receives information indicating that the moving object loaded from the user has been lowered. The identifier acquisition unit 104 may acquire the post-movement location identifier from the captured image only when the captured image reception unit 101 receives it.

  Alternatively, when the captured image reception unit 101 receives a captured image only when the fork lift 3 of the forklift 3 is lowered, the received location identifier may be acquired when the captured image is received.

  Of the place identifiers that the identifier acquisition unit 104 sequentially and repeatedly acquires using the photographed image, when the information as described above indicating that the moving object loaded from the forklift 3 or the user has been dropped is received. The location identifier acquired in (1) may be considered as the post-movement location identifier acquired by the identifier acquisition unit 104 (for example, a location identifier acquired immediately before or after the time when information is received from the forklift 3 or the user).

  The identifier acquisition unit 104 may install a motion sensor (not shown) on the fork 3a of the forklift 3, etc., and may acquire the post-movement location identifier when the motion sensor detects a downward movement of the fork 3a.

  Alternatively, the forklift 3 is provided with a weight sensor (not shown) that measures the load applied to the fork 3a, and the weight detected by the weight sensor and output to a reception unit (not shown) of the information processing apparatus 1 is a value equal to or greater than a threshold value. Then, the post-movement location identifier may be acquired when the value changes to a value less than the threshold.

  Alternatively, a fork 3a of the forklift 3 is provided with a sensor (not shown) such as a proximity sensor that detects a moving object to be arranged, and information (not shown) that is detected by this sensor and output to the information processing apparatus 1 The post-movement location identifier may be acquired when the value indicating the presence is changed to the value indicating the absence.

  The identifier acquisition unit 104 is an identifier of a location associated with one or more codes in the captured image, and is an identifier indicating a location before the movement where the forklift 3 is loaded with one or more moving objects. An identifier may be acquired. The pre-movement location identifier is, for example, a location identifier acquired when the moving object is loaded on the forklift 3 at the movement source location. The pre-movement location identifier is the same identifier as the location identifier. The process of acquiring the pre-movement location identifier from the captured image is performed, for example, by the same process as the process of acquiring the location identifier described above. Since the object is loaded at the moving object or the place before the movement, the place where the moving object is loaded may be regarded as the place before the movement.

  The loading of the moving object is a concept including, for example, a predetermined period immediately before and immediately after the forklift 3 loads the moving object. The period designated in advance is usually within several tens of seconds, but the time may be appropriately set according to the moving object, the place where the movement is performed, and the like. The time when the forklift 3 loads one or more moving objects may be considered as the time when the forklift 3 is considered to load one or more moving objects, for example. The time when the forklift 3 loads one or more moving objects may be considered as the time when the forklift 3 raises the fork 3a, for example, immediately after the forklift 3 lowers the fork 3a. Or when the fork 3a is raised after the identifier acquisition unit 104 has once acquired the object identifier. Alternatively, the time when the user inputs information indicating that one or more moving objects are loaded into a not-shown reception unit or the like of the information processing apparatus 1 is the time when the forklift 3 loads one or more moving objects. You may think. The situation that the forklift 3 handles as a point in time when one or more moving objects are loaded can be appropriately changed.

  As a result, the identifier acquisition unit 104 only needs to be able to acquire the pre-movement location identifier of the location before the movement where the forklift 3 is loaded with one or more moving objects. For example, when the forklift 3 loads one or more moving objects at a location before movement, the identifier acquisition unit 104 may perform the same processing as the processing for acquiring the location identifier to acquire the location identifier before movement. good. The forklift 3 moves one or more moving objects among the place identifiers acquired by the identifier acquisition unit 104 by reading from a captured image a code that is repeatedly executed at predetermined or indefinite time intervals specified in advance. The location identifier acquired when loading at the previous location may be considered as the pre-movement location identifier acquired by the identifier acquisition unit 104.

  For example, the identifier acquisition unit 104 may determine whether or not the forklift 3 has loaded one or more moving objects at a location before movement, and may acquire the location identifier before movement when loaded. The forklift 3 may acquire the pre-movement location identifier without determining whether or not one or more moving objects are loaded at the location before the movement.

  It does not matter how the identifier acquisition unit 104 acquires the pre-movement location identifier for the location where the forklift 3 loads one or more moving objects.

  For example, the identifier acquisition unit 104 determines whether or not a reception unit (not shown) has received information indicating that an operation or control for raising the fork 3a has been performed from an operation reception unit or a control unit (not shown) of the forklift 3. However, when it is received, the pre-movement location identifier may be acquired by performing the same processing as the processing for acquiring the location identifier.

  In addition, for example, when a receiving unit (not shown) receives information indicating that an operation or control for raising the fork 3a from the forklift 3 is performed, whether or not the object identifier is further acquired at that time. It is possible to acquire the pre-movement location identifier only when it is determined whether or not it is acquired.

  In addition, for example, the identifier acquisition unit 104 determines whether or not a reception unit (not shown) has received information indicating that a moving object is to be loaded from the user. May be.

  In addition, for example, the camera 2 that captures the code acquires and outputs a captured image only when the forklift 3 lifts the fork 3a or receives information indicating that a moving object is loaded from the user. If it is, the identifier acquisition unit 104 may acquire the pre-movement location identifier from the captured image only when the captured image reception unit 101 receives the identifier.

  Alternatively, when the photographed image receiving unit 101 accepts a photographed image only when raising the fork 3a of the forklift 3, when the photographed image is accepted, the pre-movement location identifier is acquired from the photographed image. good.

  Of the place identifiers that the identifier obtaining unit 104 sequentially and repeatedly obtains using the photographed image, the place obtained when the above information indicating that the moving object is loaded from the forklift 3 or the user is received. An identifier (for example, a location identifier acquired immediately before or after the time when information is received from the forklift 3 or a user) may be considered as the pre-movement location identifier acquired by the identifier acquisition unit 104.

  Note that the identifier acquisition unit 104 may install a motion sensor (not shown) on the fork 3a of the forklift 3, etc., and may acquire a pre-movement location identifier when the motion sensor detects a rising motion of the fork.

  Alternatively, the forklift 3 is provided with a weight sensor (not shown) that measures the load applied to the fork 3a, and the weight detected by the weight sensor and output to a reception unit (not shown) of the information processing apparatus 1 is a value equal to or greater than a threshold value. From this, the pre-movement location identifier may be acquired when the value changes to a value less than the threshold value.

  Alternatively, information detected by a sensor such as a proximity sensor (not shown) that detects a moving object arranged on the fork 3a of the forklift 3 and output to the information processing apparatus 1 is not from a value indicating that there is a close object. When the value is changed to a value indicating that, a pre-movement location identifier may be acquired.

  The identifier acquisition unit 104 may acquire one place identifier using two or more codes in the captured image. For example, when one place identifier is associated with a combination of two or more different codes (specifically, place codes), the identifier acquisition unit 104 associates with a combination of two or more codes in the captured image. One location identifier may be acquired. This location identifier may be a location identifier before movement or a location identifier after movement. For example, a plurality of code identifiers respectively corresponding to a plurality of codes are acquired from one or two or more captured images, and a set having a plurality of code identifiers matching the plurality of code identifiers is stored in the location identifier storage unit 103. To obtain a location identifier associated with a combination of two or more location codes by detecting the location identifier of the detected location from the set of one location identifier and a plurality of code identifiers. Can do. Note that the order of combination or the like is normally designated in advance for two or more place codes, and the identifier acquisition unit 104 acquires one place identifier according to the combination combined in this order. The information indicating the combination order may be included in the identifier code corresponding to each location code in advance, for example.

  Note that the identifier acquisition unit 104 may acquire one place identifier using two or more codes in two or more captured images received by the captured image reception unit 101. For example, the identifier acquisition unit 104 uses a total of two or more codes detected one by one from two or more captured images received by the captured image reception unit 101, and determines one place identifier specified by the combination of the codes. You may make it acquire. For example, the two or more captured images received by the captured image receiving unit 101 are images captured by different cameras 2. For example, the two or more photographed images here are installed on the roof of the forklift 3 as described above, the second camera 2b installed so that the front upper part of the forklift 3 is an imaging region, and the lower surface of the fork 3a. The third camera 2c is a captured image respectively captured. If each camera 2 is determined in advance as to which of the plurality of codes associated with one place identifier is the camera 2 that captures the image, it corresponds in advance to the plurality of cameras 2 that captured the captured image. What is necessary is just to determine the order which combines the code identifier acquired from the picked-up image which each camera 2 image | photographed according to the attached order.

  When the forklift 3 includes a plurality of cameras 2, the identifier acquisition unit 104 performs only the process for acquiring the above-described object identifier for a captured image captured by a specific camera 2. You may do it. Similarly, only the process for obtaining the location identifier may be performed on the captured image captured by one specific camera 2.

  The identifier acquisition unit 104 notifies the information indicating that the object identifier and the location identifier have been acquired when the code is read from the captured image received by the captured image reception unit 101 and the object identifier and the location identifier are acquired. Notification means (not shown) or the like may be included. The notification here is, for example, output of a sound or the like indicating that an object identifier or a location identifier has been acquired, lighting of a light or the like, and display on a monitor of information indicating acquisition. Note that the notification means may perform different notifications that can be identified by the user, for example, output of different sounds, depending on whether the identifier acquisition unit 104 acquires the object identifier or the location identifier. . Furthermore, different notifications that can be identified by the user may be performed when the identifier acquisition unit 104 acquires the pre-movement location identifier and when the identifier acquisition unit 104 acquires the post-movement location identifier. Thereby, the user can confirm whether or not the object identifier and the location identifier have been acquired.

  Furthermore, this notifying means (not shown) is used when the identifier acquisition unit 104 has not acquired the location identifier at the time when the object identifier is acquired or within a predetermined time after that point. Notification that the location identifier or the object identifier has not been acquired yet, such as when the object identifier has not been acquired at the time when the location identifier is acquired or within a predetermined time after that point Etc. may be performed.

  The identifier acquisition unit 104 can usually be realized by an MPU, a memory, or the like. The processing procedure of the identifier acquisition unit 104 is usually realized by software, and the software is recorded on a recording medium such as a ROM. However, it may be realized by hardware (dedicated circuit).

  The output unit 105 outputs the object identifier acquired by the identifier acquisition unit 104. For example, the output unit 105 outputs the object identifier and the location identifier acquired by the identifier acquisition unit 104. The output unit 105 outputs, for example, the object identifier acquired by the identifier acquisition unit 104 and the location identifier in association with each other. For example, the output unit 105 associates and outputs the object identifier and the location identifier acquired within a predetermined time before and after acquiring the object identifier. Output in association with each other means, for example, outputting simultaneously, outputting as the same file, storing in the same record such as a database, and the like.

  For example, the output unit 105 outputs the post-movement location identifier acquired by the identifier acquisition unit 104 and the object identifier in association with each other. The output in which the post-movement location identifier is associated with the object identifier is an output of information having the object identifier, the location identifier, and information indicating that the location identifier is the post-movement location identifier. It may be. Further, the output unit 105 outputs the pre-movement location identifier acquired by the identifier acquisition unit 104 and the object identifier in association with each other, for example. The output in which the pre-movement location identifier and the object identifier are associated with each other is an output of information having the object identifier, the location identifier, and information indicating that the location identifier is the pre-movement location identifier. It may be.

  Output here means display on a monitor, projection using a projector, printing on a printer, transmission to an external device, storage on a recording medium, processing result to other processing devices or other programs, etc. It is a concept that includes delivery.

  Information such as a target identifier accumulated by the output unit 105 in a storage unit (not shown) or a set of a target identifier and a location identifier accumulated by the output unit 105 is appropriately read out by the output unit 105 or the like. The information may be displayed on a monitor (not shown) or output to another processing unit or device (not shown) to appropriately use for management of a moving object. The management of the moving object is, for example, management of inventory of goods and physical distribution in a warehouse or the like.

  Further, when the output unit 105 transmits an object identifier or a set of an object identifier and a location identifier to another device (not shown), the other device receives and accumulates the information, The accumulated information may be displayed on a monitor (not shown) or output to another processing unit or device (not shown) so as to be appropriately used for managing a moving object.

  The output unit 105 may or may not include an output device such as a monitor or a communication unit. The output unit 105 can be implemented by output device driver software, or output device driver software and an output device.

  Next, an example of the operation of the information processing apparatus 1 of the information processing system 1000 will be described using the flowchart of FIG.

  (Step S <b> 101) The captured image reception unit 101 starts receiving captured images sequentially captured by one or more cameras 2. Here, it is assumed that a camera 2 for photographing an object code and a camera 2 for photographing a place code are provided on the forklift 3 as the cameras 2 respectively. After this step, the captured image reception unit 101 sequentially receives captured images in parallel with or during other processes. Here, it is assumed that each camera 2 is a camera that captures a moving image. For example, the captured images captured by each camera 2 are individually stored temporarily in a storage unit (not shown) or the like, and sequentially deleted from a frame image or the like after a predetermined time.

  (Step S102) The identifier acquisition unit 104 determines whether or not one or more moving objects are already loaded on the forklift 3. For example, the identifier acquisition unit 104 determines that the moving object is already loaded when the object identifier is stored in a storage unit (not shown), and if the object is not stored, the moving object is loaded. Judge that there is no. In addition, it is determined whether or not information such as a flag indicating that the moving object is loaded is stored in a storage unit or the like (not shown), and if it is stored, it is determined that it is loaded and stored. If not, it may be determined that it is not loaded. If already loaded, the process proceeds to step S103, and if not loaded, the process proceeds to step S112.

  (Step S103) The identifier acquisition unit 104 performs processing for acquiring a code identifier from a captured image received by the captured image receiving unit 101 and captured by the camera 2 for capturing the object code. Since the process of acquiring the code identifier from the photographed image is a known technique, a detailed description thereof is omitted here. The captured image used here is, for example, the latest frame image received by the captured image receiving unit 101, the frame image immediately before it, or the like.

  (Step S104) The identifier acquisition unit 104 determines whether one or more code identifiers have been acquired. If it can be obtained, the process proceeds to step S105. If it cannot be obtained, the process returns to step S103.

  (Step S105) The identifier acquisition unit 104 acquires one or more object identifiers corresponding to the one or more code identifiers acquired in step S104. For example, it is determined whether or not a code identifier that matches one or more code identifiers acquired in step S104 is stored in the object identifier storage unit 102. A pair of object identifiers is acquired and stored in a storage unit (not shown). If there is no matching code identifier, the object identifier is not acquired. When the object identifier has already been accumulated in a storage unit (not shown), for example, the object identifier is updated with a new object identifier. When a plurality of code identifiers are acquired in step S104, for example, processing for detecting an object identifier is sequentially performed for each code identifier.

  (Step S106) The identifier acquisition unit 104 performs processing for acquiring a code identifier from a captured image received by the captured image receiving unit 101 and captured by the camera 2 for capturing the location code. The photographed image used here is, for example, the latest frame image or the frame image immediately before it.

  (Step S107) The identifier acquisition unit 104 determines whether one or more code identifiers have been acquired. If it can be obtained, the process proceeds to step S108. If it cannot be obtained, the process proceeds to step S109.

  (Step S108) The identifier acquisition unit 104 acquires a location identifier corresponding to the one or more code identifiers acquired in step S107 from the location identifier storage unit 103. For example, it is determined whether or not a code identifier that matches one or more code identifiers acquired in step S107 is stored in the location identifier storage unit 103. Is acquired and stored in a storage unit or the like (not shown). If the location identifier has already been accumulated, for example, it is updated with a new location identifier. If no match is found, no location identifier is acquired. When a plurality of code identifiers are associated with one place identifier, whether or not a plurality of code identifiers that respectively match the plurality of code identifiers are stored in the place identifier storage unit 103. If it is stored, one location identifier associated with the plurality of code identifiers is acquired.

  (Step S109) The identifier acquisition unit 104 determines whether or not the forklift 3 is loaded with a moving object. For example, a reception unit (not shown) of the information processing apparatus 1 determines whether or not information indicating that an operation to raise the fork 3a is received from the forklift 3, and if received, determines that loading is performed. . If not received, it is determined that loading is not performed. If it is determined that loading is performed, the process proceeds to step S110, and if it is determined that loading is not performed, the process returns to step S103.

  (Step S110) The output unit 105 determines whether or not the object identifier and the location identifier are stored in a storage unit (not shown). If stored, the process proceeds to step S111. If not stored, the process returns to step S103.

  (Step S111) The output unit 105 associates the one or more object identifiers stored or updated in Step S105 with the pre-movement location identifier that is the latest location identifier among the location identifiers acquired in Step S108. Output. The output here is normally accumulation in a storage unit (not shown) or the like, but may be transmission to another device (not shown) or the like. Then, the process returns to step S102. The output unit 105 may further accumulate information such as a flag indicating that the moving object is loaded in a storage unit (not shown).

  (Step S112) The identifier acquisition unit 104 performs processing for acquiring a code identifier from a captured image received by the captured image receiving unit 101 and captured by the camera 2 for capturing the location code. The photographed image used here is, for example, the latest frame image or the frame image immediately before it.

  (Step S113) The identifier acquisition unit 104 acquires the location identifier corresponding to the one or more code identifiers acquired in step S112 from the location identifier storage unit 103. This process is the same as step S108.

  (Step S114) The identifier acquisition unit 104 determines whether or not the moving object loaded from the forklift 3 is to be lowered. For example, a reception unit (not shown) of the information processing apparatus 1 determines whether or not information indicating that an operation of lowering the fork 3a is performed from the forklift 3, and if received, the moving object is lowered. to decide. If it has not been received, it is determined that it will not be lowered. If it is determined that it will be lowered, the process proceeds to step S115, and if it is determined that it is not lowered, the process returns to step S112.

  (Step S115) The output unit 105 determines whether or not the location identifier is stored in a storage unit (not shown). If stored, the process proceeds to step S115. If not stored, the process returns to step S112.

  (Step S116) The output unit 105 associates the one or more object identifiers stored or updated in Step S105 with the post-movement location identifier that is the latest location identifier among the location identifiers acquired in Step S113. Output. The output here is normally accumulation in a storage unit (not shown) or the like, but may be transmission to another device (not shown) or the like. Then, the process returns to step S102. Then, the process returns to step S102. After the above output, the output unit 105 may delete one or more object identifiers accumulated or updated in step S105. Further, the output unit 105 further updates information such as a flag indicating that the moving object is loaded, which is stored in a storage unit (not shown), to information indicating that the moving object is not loaded. Also good.

  In the flowchart of FIG. 3, the process ends when the power is turned off or the process is terminated.

  Hereinafter, a specific operation of the information processing system 1000 in the present embodiment will be described. Here, a case where the code is a color code will be described as an example.

  FIG. 4 is a diagram illustrating an example of a situation in which the information processing system 1000 is used (FIG. 4A), and a diagram illustrating an example of a color code that is a code used in the information processing system 1000 (FIG. 4B). ).

  Fig.4 (a) is a figure which shows the one area vicinity where the movement target object in a certain warehouse is arrange | positioned. In the figure, a plurality of moving objects 30 are placed on a pallet 40. The moving object 30 is assumed to be a product packed in a box, for example. An object code 10 is disposed on the front side of each moving object 30. Each area where the moving object 30 is arranged is separated by, for example, a white line 50. The first place code 21 is arranged on the wall surface behind the area where the moving object 30 is arranged. The second place code 22 is arranged on the front floor where the pallet 40 in this area is arranged. The code identifier of the object code 10 is associated with the object identifier. Here, for example, since a plurality of the same moving objects 30 are arranged on the pallet 40, it is assumed that the same object code 10 is arranged on each moving object 30. Assume that the combination of the code identifier of the first location code 21 and the code identifier of the second location 22 is associated with the location identifier of this area.

  FIG. 4B is a diagram illustrating an example of the object code 10. The object code 10 is a color code as described above. This color code is a code in which a plurality of colors are arranged on a matrix. For example, this color code is also called a chameleon code. Here, it is assumed that the first location code 21 and the second location code 22 are similar color codes. However, the color arrangement of each code may be different. Also, the size of each cord may be different.

  FIG. 5 shows object identifier management information for managing object identifiers stored in the object identifier storage unit 102. The object identifier management information has attributes of “code ID” and “object ID”. The “code ID” is a code identifier, and here is a code identifier read from the object code. The “object ID” is an object identifier, and here, for example, is a product identifier.

  FIG. 6 shows location identifier management information for managing location identifiers stored in the location identifier storage unit 103. The location identifier management information has attributes of “first code ID”, “second code ID”, and “location ID”. The “first code ID” is a first code identifier and is a code identifier that is read from the first location code 21. The “second code ID” is a second code identifier and is a code identifier read from the second location code 22. “Location ID” is a location identifier, and here, the name of the location in the warehouse is indicated by a combination of the number of floors and the name of the area.

  In this specific example, it is assumed that a forklift 3 having cameras 2a-2c as shown in FIG. 3 is used. Although not shown here, the information processing apparatus 1 is, for example, a tablet-type information processing terminal and is installed on the forklift 3. However, the information processing apparatus 1 may be a server apparatus or the like that can receive an image taken by the camera 2 or the like via wireless communication or the like. Further, the information processing apparatus 1 may be a wearable computer such as an eyeglass computer. Note that the first camera 2a of the forklift 3 has a photographing area of one pallet when the front of the forklift 3 is located opposite to the front of the moving object 30 arranged on the one pallet 40. It is assumed that the orientation and the like are appropriately set so that all the moving objects 30 on 40 are located. Further, when the forklift 3 is positioned opposite to the front surface of the moving object 30 arranged on the one pallet 40, the second camera 2b includes the first location code 21 in the shooting area, It is assumed that the direction and the like are appropriately set so that other codes are not included. Further, when the forklift 3 moves toward the one pallet or moves away from the one pallet, the third camera 2c seems to include the second location code 22 on the floor in the imaging region. The fork 3a is provided on the lower surface side.

  When the user of the forklift 3 activates the information processing apparatus 1, the cameras 2 a to 2 c start capturing images, and transmit the captured images to the information processing apparatus 1 for each one or more frame images. .

  The captured image reception unit 101 receives captured images transmitted from the cameras 2a-2c. Here, assuming that the forklift 3 does not load the moving object and has not acquired the object identifier of the loaded moving object, the identifier acquiring unit 104 is configured such that the captured image receiving unit 101 is connected to the camera 2a. -2c, a process for acquiring a code identifier or the like is performed for each of the captured images received. However, here, for example, it is assumed that no code is captured in any captured image, and the code identifier cannot be acquired. For this reason, the information processing apparatus 1 sequentially performs the same processing on the captured images sequentially transmitted from the cameras 2a-2c.

  Next, in order for the user to load the moving object 30 arranged on the pallet 40 onto the forklift 3, the forklift so that the front of the forklift 3 faces the front of the moving object 30 arranged on the pallet 40. 3 is moved.

  FIG. 7 is a schematic diagram (FIG. 7A) showing a state in which the forklift 3 is moved to the front of the moving object 30 arranged on the pallet 40, and the first camera 2a takes an image in this state. It is a figure (Drawing 7 (b)) which shows a picked-up image. In FIG. 7, an arrow 200a indicates the shooting direction of the first camera 2a, an arrow 200b indicates the shooting direction of the second camera 2b, and an arrow 200c indicates the shooting direction of the third camera 2c. .

  When the forklift 3 moves to the above position, a plurality of moving objects 30 arranged on the pallet 40 are positioned in the imaging region of the first camera 2a, and the first camera 2a The moving object 30 is photographed. Then, the photographed image as shown in FIG. 7B is transmitted to the information processing apparatus 1.

  When the captured image receiving unit 101 of the information processing apparatus 1 receives a captured image from the first camera 2a, the identifier acquiring unit 104 performs processing for acquiring a code identifier or the like from the captured image. Here, since the shooting area of the first camera 2a is set to an area in which the object code 10 can be shot, the identifier acquisition unit 104 has previously taken a shot image shot by the first camera 2a. Assuming that only the process for acquiring the object identifier is set, the identifier acquiring unit 104 first uses the image processing or the like in the captured image shown in FIG. Is detected. Specifically, the image area of each code is detected. Here, as shown in FIG. 7B, it is assumed that four code images 10a are detected.

  The identifier acquisition unit 104 reads the code identifier from one of the detected code images. Assume that the read code identifier is “P10003.” Then, in the object identifier management information shown in FIG. 5, a record (row) whose attribute value of “code ID” is “P10003” is searched. “KWR5001R” that is an attribute value of “object ID” of the detected record is acquired. The object identifier acquired here is the object identifier of the moving object 30. Here, the attribute value “KWR500R” of the acquired “object ID” is temporarily stored in a storage unit (not shown) or the like. If another object identifier is already stored, it is overwritten, for example.

  Here, in this warehouse, it has been determined in advance as a rule when the moving object 30 is arranged that the same moving object 30 is arranged in advance on the pallet 40 by the same number, for example, eight. Then, since it is not necessary to acquire the object identifier for the image of another code detected in the photographed image, the process for acquiring the object identifier ends here.

  However, in the same manner as described above, the identifier acquisition unit 104 may similarly acquire the object identifier for the other three detected codes. Also, the number of detected codes may be acquired.

  Further, since the first location code 21 is positioned in the imaging area of the second camera 2b, the second camera 2b acquires a captured image obtained by imaging the first location code 21, and information Transmit to the processing device 1.

  FIG. 8 is a diagram (FIG. 8A) showing a photographed image taken by the second camera 2b of the forklift 3, and a diagram (FIG. 8B) showing a photographed image taken by the third camera 2c. is there.

  When the captured image reception unit 101 of the information processing apparatus 1 receives a captured image from the camera 2b, the identifier acquisition unit 104 performs processing for acquiring a code identifier or the like from the captured image. Here, since the camera 2b is set to an area in which the first place code 21 can be captured, the identifier acquisition unit 104 determines the first captured image captured by the camera 2b in advance. If it is set to detect the place code image and acquire the first code identifier, the identifier acquisition unit 104 first performs image processing or the like on the captured image shown in FIG. To detect the code. Specifically, the area of the code image is detected. Here, it is assumed that an image 21a of the first location code is detected as shown in FIG.

  The identifier acquisition unit 104 reads the detected first location code image 21a and acquires the code identifier “A201”. Here, since it is obtained using the captured image captured by the camera 2b, the code identifier “A201” is acquired as the first code identifier. The acquired first code identifier is temporarily stored in a storage unit (not shown).

  Here, if the second location code 22 is not located in the imaging area of the third camera 2c, the code is not detected in the captured image transmitted by the third camera 2c, and the Since the second code identifier cannot be acquired, the location identifier is not acquired.

  Subsequently, if the user moves the forklift 3 in the direction approaching the pallet 40, and the second location code 22 is positioned in the imaging region of the third camera 2c, the camera 2b A captured image obtained by capturing the second location code 22 is acquired and transmitted to the information processing apparatus 1. Assume that the transmitted captured image is an image as shown in FIG.

  When the captured image reception unit 101 of the information processing apparatus 1 receives a captured image from the third camera 2c, the identifier acquisition unit 104 performs processing for acquiring a code identifier or the like from the captured image. Here, since the shooting area of the third camera 2c is set to an area where the second place code 22 can be shot, the identifier acquisition unit 104 takes a shot image shot in advance by the third camera 2c. , If it is set to detect the second location code image and acquire the second code identifier, the identifier acquisition unit 104 in the captured image shown in FIG. The code is detected using image processing or the like. Specifically, the area of the code image is detected. Here, as shown in FIG. 8B, it is assumed that the image 22a of the second place code is detected.

  The identifier acquisition unit 104 reads the detected first location code image 22a and acquires the code identifier “B10002”. Here, since it is obtained using the captured image captured by the camera 2c, the code identifier “B10002” is acquired as the second code identifier. The acquired second code identifier is temporarily stored in a storage unit (not shown).

  Here, since the identifier acquisition unit 104 can acquire the first code identifier “A201” and the second code identifier “B10002”, the identifier acquisition unit 104 acquires a location identifier corresponding to the combination of the code identifiers. Specifically, in the location identifier management information shown in FIG. 6, the attribute value of “first code ID” matches the first code identifier “A201” and the attribute value of “second code ID” is the first. A record (row) that matches the second code identifier “B10002” is detected, and information “2nd floor second area” that is a value of “location ID” of the detected record is acquired as a location identifier. Then, the acquired location identifier is temporarily stored in a storage unit (not shown) or the like. If the location identifier is already stored, for example, it is overwritten.

  Here, the user inserts the fork of the forklift 3 into the opening on the side surface of the pallet 40 and raises the fork in order to load the moving object 30 arranged on the pallet 40 together with the pallet 40 onto the forklift 3. Is performed on the forklift 3, the moving object 30 arranged on the pallet 40 is lifted together with the pallet 40 by the fork 3a, and information indicating that the operation for lifting the fork 3a is performed. It is assumed that the data is transmitted from a control unit (not shown) to a reception unit (not shown) of the information processing apparatus 1.

  When the reception unit (not shown) of the information processing apparatus 1 receives information indicating that the fork 3a has been lifted, that is, lifted, the output unit 105 is stored in a storage unit (not shown) at the time of reception. The object identifier “KWR5001R” and the location identifier “second floor second area” are read out. At this time, the location identifier “second floor second area” stored in the storage unit (not shown) is the location identifier before movement acquired by the identifier acquisition unit 104, and the output unit 105 responds to the operation of raising the fork 3a. The location identifier is read out as the location identifier before movement. Then, the output unit 105 accumulates the set of the read object identifier “KWR5001R” and the pre-movement location identifier “second floor second area” in a storage unit or the like (not shown). In this way, a set of the object identifier of the moved object to be moved and the pre-movement location identifier indicating the location before the movement can be acquired.

  Thereafter, it is assumed that the user moves the forklift 3 to an area that is a destination specified in advance in a state where the moving object 30 is loaded. It is assumed that the first location code 21 and the second location code 22 are also arranged in the destination area as in FIG.

  The information processing apparatus 1 determines that the moving object 30 is already loaded because the object identifier is already stored in a storage unit (not shown). For this reason, the process of acquiring the first code identifier from the captured image captured by the camera 2b and the process of acquiring the second code identifier from the captured image captured by the third camera 2c are repeated.

  Then, the forklift 3 approaches the destination area of the moving object 30, the second camera 2b captures the first location code 21 of the destination area, and the third camera 2c Suppose that the second place code 22 of the area is photographed.

  Similarly to the above, the identifier acquisition unit 104 acquires the first code identifier from the captured image captured by the second camera 2b, and acquires the second code identifier from the captured image captured by the third camera 2c. The “location ID” corresponding to these is acquired from the location identifier management information shown in FIG. It is assumed that the acquired place identifier is “1st floor 4th area”. The identifier acquisition unit 104 overwrites the location identifier stored immediately before with the acquired location identifier “first floor fourth area”.

  Then, in order to lower the moving object 30 with the object identifier “KWR5001R” loaded by the user to the destination area, the user performs the operation of lowering the fork 3a that has lifted the moving object 30 together with the pallet 40. Suppose. As a result, the forklift 3 lowers the fork 3a and transmits information indicating that the forklift 3 has been lowered from a control unit (not shown) of the forklift 3 to a reception unit (not shown) of the information processing apparatus 1.

  When the reception unit (not shown) of the information processing apparatus 1 receives information indicating that the operation for lowering the fork 3a has been received, the output unit 105 receives the object identifier “KWR5001R stored in the storage unit (not shown) at the time of reception. And the location identifier “first floor fourth area” acquired immediately before. At this time, the location identifier “first floor fourth area” stored in the storage unit (not shown) is the post-movement location identifier acquired by the identifier acquisition unit 104, and the output unit 105 responds to the operation of lowering the fork. This location identifier is read out as a location identifier after movement. Then, the output unit 105 accumulates the set of the read object identifier “KWR5001R” and the post-movement location identifier “first floor fourth area” in a storage unit or the like (not shown). In this way, a set of the object identifier of the moved object to be moved and the post-movement location identifier indicating the post-movement location can be acquired.

  Then, the object identifier “KWR5001R” stored in the storage unit (not shown) is deleted. Note that the location identifier may also be deleted.

  Note that the output unit 105 may display information such as a combination of the accumulated object identifier and pre-movement location identifier pair and the combination of the object identifier and post-movement location identifier on a monitor or the like.

  FIG. 9 is a diagram illustrating an output example by the output unit 105.

  As described above, according to the present embodiment, by reading the code of the moving object using the image captured by the camera provided on the forklift, the moving object moving by the forklift can be automatically detected, and the moving object Goods can be grasped appropriately at low cost.

  For example, since the shooting range of the camera is limited depending on the angle of view, only the moving object to be moved by the forklift is imaged by the camera provided on the forklift, and only the code of the moving object is selectively read out. Thus, only the moving object to be moved can be identified, and the moving object can be accurately grasped.

  In addition, for example, the code can be manufactured at a lower cost than an IC tag or the like, and since a general-purpose ordinary camera can be used as the camera 2, it can be obtained at a lower price than an IC tag reader / writer or the like. Therefore, the information processing system 1000 can be provided at a low cost.

  In addition, by reading the code of the location before moving, information indicating the moved moving object and the location of the moving object before moving can be automatically associated and acquired. The movement before the movement of the object can be grasped at a low cost.

  In addition, by reading the code of the location after the movement, information indicating the moved moving object and the location after the movement of the moving object can be automatically associated and acquired. It is possible to grasp the location after moving the object at a low cost.

  Further, a plurality of locations can be indicated by a combination of a plurality of codes, and the number of codes prepared in advance can be reduced.

  In addition, it is possible to prevent a code from being recognized erroneously by photographing each of a plurality of codes indicating a location with different cameras. Further, since the combination of codes acquired from the captured image, for example, the combination order can be specified by the captured camera, the processing speed when acquiring the location identifier from the combination of codes can be improved.

  Further, by printing the code on the moving object, it is possible to prevent a mismatch between the moving object indicated by the code arranged on the moving object and the moving object on which the code is arranged.

  In each of the above embodiments, each process (each function) may be realized by centralized processing by a single device (system), or by distributed processing by a plurality of devices. May be.

  Further, although cases have been described with the above embodiments where the information processing apparatus is a stand-alone, the information processing apparatus may be a stand-alone apparatus or a server apparatus in a server / client system. In the latter case, the output unit or the reception unit receives an input or outputs a screen via a communication line.

  In each of the above embodiments, each component may be configured by dedicated hardware, or a component that can be realized by software may be realized by executing a program. For example, each component can be realized by a program execution unit such as a CPU reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory. At the time of execution, the program execution unit may execute the program while accessing a storage unit (for example, a recording medium such as a hard disk or a memory).

  The software that realizes the information processing apparatus in each of the above embodiments is a program as described below. In other words, this program is a photographed image receiving unit that accepts a photographed image that is a photographed image taken by one or more cameras installed on a forklift and photographed in an area where one or more codes are arranged. And using the captured image, an identifier acquisition unit that acquires one or more target identifiers that are identifiers of the moving target associated with one or more codes in the captured image, and an object acquired by the identifier acquisition unit It is a program for functioning as an output unit that outputs an identifier.

  In the program, the functions realized by the program do not include functions that can be realized only by hardware. For example, a function that can be realized only by hardware such as a modem or an interface card in an acquisition unit that acquires information or an output unit that outputs information is not included in the function realized by the program.

  Further, the computer that executes this program may be singular or plural. That is, centralized processing may be performed, or distributed processing may be performed.

  FIG. 10 is a schematic diagram showing an example of the appearance of a computer that executes the program and realizes the information processing apparatus according to the embodiment. The above-described embodiment can be realized by computer hardware and a computer program executed on the computer hardware.

  In FIG. 10, a computer system 900 includes a computer 901 including a CD-ROM (Compact Disk Read Only Memory) drive 905, a keyboard 902, a mouse 903, and a monitor 904.

  FIG. 11 is a diagram showing an internal configuration of the computer system 900. In FIG. 11, in addition to the CD-ROM drive 905, a computer 901 is connected to an MPU (Micro Processing Unit) 911, a ROM 912 for storing a program such as a bootup program, and the MPU 911, and receives instructions of an application program. A RAM (Random Access Memory) 913 that temporarily stores and provides a temporary storage space, a hard disk 914 that stores application programs, system programs, and data, and a bus 915 that interconnects the MPU 911, ROM 912, and the like Prepare. The computer 901 may include a network card (not shown) that provides connection to the LAN.

  A program that causes the computer system 900 to execute the functions of the information processing apparatus and the like according to the above-described embodiments may be stored in the CD-ROM 921, inserted into the CD-ROM drive 905, and transferred to the hard disk 914. Instead, the program may be transmitted to the computer 901 via a network (not shown) and stored in the hard disk 914. The program is loaded into the RAM 913 when executed. The program may be loaded directly from the CD-ROM 921 or the network.

  The program does not necessarily include an operating system (OS) or a third-party program that causes the computer 901 to execute the functions of the information processing apparatus according to the above-described embodiment. The program may include only a part of an instruction that calls an appropriate function (module) in a controlled manner and obtains a desired result. How the computer system 900 operates is well known and will not be described in detail.

  The present invention is not limited to the above-described embodiments, and various modifications are possible, and it goes without saying that these are also included in the scope of the present invention.

  As described above, the information processing apparatus according to the present invention is suitable as an apparatus for managing a moving object, and is particularly useful as an apparatus for managing the position of a moving object.

DESCRIPTION OF SYMBOLS 1 Information processing apparatus 2, 2a-2c, Camera 3 Forklift 3a Fork 10 Object code 21 1st place code 22 2nd place code 30 Moving object 31 Roof 32-34 Shooting area 40 Palette 101 Shooting image reception part 102 Object identifier storage unit 103 Location identifier storage unit 104 Judgment unit 104 Identifier acquisition unit 105 Output unit 1000 Information processing system

Claims (8)

A captured image reception unit that receives a captured image that is an image captured by one or more cameras installed on a forklift and that captures an area where one or more codes are arranged;
A photographed image received by the photographed image receiving unit, and a photographed image obtained by photographing a region where two or more object codes, which are codes corresponding to two or more moving objects to be moved by the forklift, are arranged. An identifier acquiring unit that acquires two or more object identifiers that are identifiers of the moving object associated with the two or more object codes in the captured image;
An information processing apparatus comprising: an output unit that outputs an object identifier acquired by the identifier acquisition unit. The identifier acquisition unit is an identifier of a location associated with one or more codes in the photographed image, and an identifier that indicates a location after moving the one or more moving objects loaded on the forklift Get post-movement location identifier that is
The information processing apparatus according to claim 1, wherein the output unit outputs the post-movement location identifier acquired by the identifier acquisition unit and the object identifier in association with each other. The identifier acquisition unit is an identifier of a location associated with one or more codes in the captured image, and is an identifier indicating a location before the movement where the forklift has loaded one or more moving objects. Get the location identifier,
The information processing apparatus according to claim 1, wherein the output unit outputs the pre-movement location identifier acquired by the identifier acquisition unit and the object identifier in association with each other. The photographed image receiving unit accepts a photographed image obtained by photographing a region where two or more different codes are arranged,
The information processing apparatus according to claim 2, wherein the identifier acquisition unit acquires one place identifier using two or more different codes in the captured image. The captured image reception unit receives two or more captured images captured by two or more cameras,
The information processing apparatus according to claim 2, wherein the identifier acquisition unit acquires one place identifier using two or more codes in two or more captured images received by the captured image reception unit. A forklift provided with a camera that outputs a photographed image to the information processing apparatus according to claim 1. An information processing method performed using a captured image reception unit, an identifier acquisition unit, and an output unit,
The captured image reception unit is a captured image that is an image captured by one or more cameras installed on a forklift, and a captured image reception step that receives a captured image of an area where one or more codes are arranged;
The identifier acquisition unit is a captured image received by the captured image reception unit, and includes an area where two or more object codes, which are codes corresponding to two or more moving objects to be moved by the forklift, are arranged. An identifier acquisition step for acquiring two or more object identifiers, which are identifiers of moving objects associated with two or more object codes in the captured image, using the captured image captured;
An information processing method comprising: an output step in which the output unit outputs the object identifier acquired in the identifier acquisition step. Computer
A captured image reception unit that receives a captured image that is an image captured by one or more cameras installed on a forklift and that captures an area where one or more codes are arranged;
A photographed image received by the photographed image receiving unit, and a photographed image obtained by photographing a region where two or more object codes, which are codes corresponding to two or more moving objects to be moved by the forklift, are arranged. An identifier acquiring unit that acquires two or more object identifiers that are identifiers of the moving object associated with the two or more object codes in the captured image;
The program for functioning as an output part which outputs the target object identifier which the said identifier acquisition part acquired.

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