JP2012137304A - Automatic measurement device for goods distribution system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate improved efficiency in automatization and systematization of a goods distribution system by realizing a high-speed light-weight simple measurement sensor that meets the fundamental requirement of the automatization and systematization including an integrated measurement and information management of individual recognition information and characteristics information, such as form, size, weight, temperature, color and pattern, for improvement of efficiency and cost reduction of the goods distribution system that increasingly demands the automation and systematization in the present and future society where an enormous amount of transport cargos are generated.SOLUTION: An automatization and systematization of goods distribution is realized by: using CCD cameras 120-122 as form/size measurement sensors; and also using sensors and apparatuses such as a weight meter 109, to enable an integrated measurement of form, size, material characteristics and individual management information.

Description

The present invention relates to a system for automatically measuring physical properties and individual management information such as dimensions, shape, weight, color, pattern, odor and the like of a transported cargo in the physical distribution field by using an image processing technology, a weight sensor, and a physical property sensor. .

In recent years, along with the development of CCD elements, image processing, and computation software, remote and non-contact shape measurement is used in various fields.
With the development of CCD elements and image processing technology, the accuracy of object position and shape recognition by image processing technology has improved dramatically and is being used in various fields such as aviation, space, automobile, machine industry, and IT industry.
In view of the trend and technical background of this era, the present invention integrates weight measurement, shape measurement, and conveyance, automation, and systemization.

The invention disclosed in Japanese Patent Application Laid-Open No. 2008-180563 is a shape measuring device using a typical optical cutting method for surface inspection of steel materials. The line laser is scanned on the specimen surface, photographed with a single camera, and lines are extracted by image processing. The intersection line with the specimen is calculated by the trigonometric calculation method from the projection angle of the line laser, the optical axis angle of the camera, and the parallax between the laser exit and the camera position. As a highly accurate 3D measurement method, it is often used for measuring the shape of stationary objects such as buildings and machines. As another typical example, a light cutting method using a red laser is often used to specify a measurement position of an MRI scanner. The invention of Japanese Patent Application No. 2010-258328 is the inventor's invention. This is an improved version of the light cutting method, and is an invention for efficiently processing beam-shaped light. Hereinafter, it is referred to as an optical cutting method together with the invention of (Patent Document 1). JP 2005-84012 A invention of skin shape measurement is a stereo camera in which the corresponding points of two images by two fixed cameras are extracted by image processing, and the three-dimensional coordinates of the corresponding points are calculated by trigonometric calculation This is a method that has been called the photo analysis method, which has existed since the time when the old film camera was invented. The battleship Yamato's two-lens rangefinder is also a measurement method based on this principle. This is hereinafter referred to as the stereo camera method. The invention of JP-A-2004-233198 is a method for associating measurement points in photogrammetry. Two or more images (6 feature points) taken by changing the shooting position with one or more cameras that are not fixed to each other. This is a method in which the corresponding points are extracted by image processing based on the same principle as the stereo camera analysis method. Although not described in this patent document, a ruler is not necessary when two images share a triangle with a known three-side length, and the ruler is the same in principle. A typical example of this method is a method of calculating three-dimensional coordinates of the terrain while matching corresponding points by combining a plurality of images taken from an arbitrary place direction with an aircraft such as topographic surveying. This is a known principle and is hereinafter referred to as a separation stereo method. Japanese Patent Application No. 2006-177244 is the inventor's invention. By measuring the displacement deformation of an object with reference to a fixed object in the background, it is possible to reduce an error caused by a hot flame phenomenon or a slight rocking of the ground when the displacement deformation of the object is measured outdoors. The invention of Japanese Patent Laid-Open No. 11-83603 is a load and length measuring device for luggage. It is a device that simultaneously measures the weight and length of cargo passing on a belt conveyor.

In recent years, with the globalization of the economy, the amount of physical distribution has increased and the contents have become complicated and diverse.
In the future logistics industry, where the flow rate of materials continues to increase dramatically, transportation hardware such as belt conveyors and forklifts has evolved dramatically, which is useful for handling quantities in logistics.
However, when considering the quality of the current logistics system, it is not always possible to establish a system that meets the needs of the times.
The reason is that hardware and software are unbalanced.
One is that weight measurement is automated by a weight sensor or the like, but physical properties such as dimensions, shapes, colors, patterns, and odors other than weight are not automated or used.
(Hereafter, measurement of physical properties other than weight measurement is called physical property measurement.)
For example, a weight sensor is added to the belt conveyor, and weight measurement and conveyance automation have been introduced and developed from the early stages after the war, but the field of dimension and shape recognition is still behind automation, and it is still a pre-modern ruler, tape measure, Currently, major tapes and rulers are operated manually.
The reason is that when measuring dimensions and shapes, there is only a contact-type measuring method such as wrapping a ruler, tape measure, measure tape around the cargo, etc. There was no advantageous sensor and cargo at a time when the flow rate of the material was relatively small It would be a habit that transportation charges depended on weight (weight) rather than bulk (volume).

However, the transportation capacity of transportation vehicles varies widely, such as trolleys, conveyors, trucks, railroads, ships, and aircraft, and depends on either weight or volume depending on the purpose and means.
In particular, in the era when freight is required to be large-scaled, multi-functional, and promptly delivered, transportation costs are increasingly determined by the volume of the freight.
It is clear that the integration of automated and automated conveyance and shape measurement (hereinafter referred to as shape measurement) of cargos is a sharp process.
(Patent Document 5) is based on the invention of the present inventor, but is the use of outdoor measurement technology in construction work, and is not necessarily effective in measuring the shape of physical distribution cargo.
The invention of (Patent Document 6) is a device that simultaneously measures the weight and length of a load, but cannot measure the width and height, and cannot measure cargo other than a rectangular parallelepiped. Is far away.

The problem of measurement in the logistics field is that it is necessary to accurately measure the cargo to be carried in a short time.
The contents of measurement are not limited to shape and dimensions, but include weight, individual management information, temperature, color, pattern, and other physical properties, and high-performance computer processing is indispensable.
In addition, there is not only one place for handling cargo in logistics, but it is not possible to place high-performance personal computers at all sites, so it is also necessary to wirelessly transmit images, measurement values, and processing data to high-performance personal computers. .
Especially in the shape measurement, if it depends on the method of measuring various kinds of large and small cargoes carried at high speed with a ladder and measuring with a measure tape etc., a plan is not made and it becomes a pile of stagnant coins.
A non-contact telemetry method is required regardless of the size of the cargo.
In order to automate and systemize the transfer, the measurement data must be digitized, and since it measures in a short time, there are few moving parts and it is necessary to use elements with high responsiveness as sensors, In order to improve the measurement accuracy, it is necessary to employ elements with as high a resolution as possible.
Conventionally, an image processing system has been proposed and used at the cargo handling site, but the captured image is sent to the image processing device via a cable for image processing and calculation, which becomes a large fixed facility and complicated logistics processing. It is a system that is inappropriate for the field.
It cannot be used on the actual site unless it is a simple and light equipment system for workers.

The first aspect of the present invention is a method of photographing a solid ruler with a known shape dimension in close contact with the object, and measuring the shape dimension of the object based on the shape dimension of the ruler by image processing.
In the rest of this paper, this is called the ruler method.
Whether a portable 3D ruler with a known shape (including 2D, 101 and 102 in Fig. 2, referred to as a portable ruler in the following) is placed in close proximity to the object to be measured (referred to as 100 and later in Fig. 2) Or a nearby cargo pallet with a known shape (108 in Fig. 2), joinery, shelf, structure (107 in Fig. 2) or a fixed object with a known pattern (111 in Fig. 2; The object is placed in close contact with or closely attached to the mobile ruler or fixed ruler and the object is called a CCD camera (C-MOS camera, CCD camera, etc., hereinafter referred to as a CCD camera. Parameters necessary for image processing are calibrated in advance. ).
A method for obtaining the length and coordinates of each side of the object based on the closely attached portable ruler will be described below.
In FIG. 1, ec is one side of the object and abcd is a portable ruler.
Let p point be the pinhole of the camera.
The pinhole camera principle, which is the general principle of image processing, can measure elevation angles Tac, Tab, Tbc, and Tec from p to the endpoints and vertices of the ruler. The side lengths pa, pc, and pb and the angle Tap of the triangular pyramid are obtained.
Considering the triangle pec, a triangle side ec (one side of the object to be obtained) having the side pc as a base and two narrow sides of angles Tec and Tap is obtained.
In addition, the position of the camera pinhole p and the camera posture can be calculated from triangular image processing with a known three-side length.
The method of obtaining the p coordinates, pa, pc, and pb side lengths is specifically the intersection of three circumscribed spheres of the base and the known apex angle, and is the solution of the three equations.
When using a nearby fixed ruler or portable ruler, the points o, s, t on the surface containing the ruler triangle and the surface with a certain angle including a right angle to the surface, on the intersecting line known from o to the surface ecdf Coordinates such as q points can be calculated.
According to the present invention, the coordinates of a point having a certain relationship with the ruler can be calculated.
For example, the measurement of the coordinates of the point o is the intersection coordinates of the surface ecdf calculated from the ruler acd and the straight line op calculated by the image processing, and the point q is calculated by image processing with the straight line intersecting the surface ecdf at the intersection angle Toq. The coordinates of the intersection of the straight line pq.
Take an image containing the same triangle from two or more locations, calculate the pinhole position and camera orientation of each camera by image processing, and based on these values, each image is processed by the separate stereo method An object can be measured three-dimensionally (separated stereo method). In this case as well, the calculation method based on a portable ruler or a fixed ruler, which is the concept of the present invention, is used.
In this case, two or more cameras may be separated if parameters are acquired.

How to find the side ef of an object from a fixed ruler
In Fig. 1, if ef is one side of the object and the partition drawn in a grid shape including mngh is a fixed ruler, ef may be obtained in the same manner as described above (method for obtaining ec), or the actual size of mn Alternatively, the proportional constant between the pixel value and the pixel value may be multiplied by the pixel value of ef.
The method for obtaining each side of an object from a nearby fixed ruler is the same as the above ec calculation method, assuming that ef is one side of the object in FIG. 1 and ij is a nearby portable ruler.
In this case, ef is preferably on the same line as ij, but may be slightly separated if an error is allowed.
The method for extracting the edge of the ruler and the edge of the object can be extracted relatively easily by using, for example, Hough transform and time difference photographing.
Hough return is a mathematical method that takes out only circular and linear components from an image by a method devised by Mr. Hough in the United States.
In the above explanation of the principle, the ruler has been described as a triangular plane, but the reason for making the ruler three-dimensional with a plurality of sides as shown in FIG. 1 is that one side of the three-dimensional ruler is parallel or overlapped with the twill side of the object. Because it can.
First, by extracting a ruler side that can be easily extracted by the Hough transform and searching for a side parallel or overlapping with the ruler side, it is possible to effectively extract the target side.
In this example, only the object and the background are photographed first, and then the ruler is in close contact (as soon as possible within the time when the background does not change). Is a general principle in image processing, in which only the portion of the ruler that is in close contact can be extracted.
According to the present invention, the camera configuration is a fixed single camera (120 in FIG. 2), a stereo camera (121 in FIG. 2),
It can be measured by any method of portable camera (122 in Fig. 2).
In addition, lighting such as LEDs is attached to the points of ruler (120 in Fig. 2), or part or all of the ruler is made from reflective marker or reflective material from projector / illuminator (130 in Fig. 2). Illumination is also an effective method for extracting image processing of rulers.
In order to make the boundary extraction process more advantageous in image processing, the background of the fixed ruler (for example, 111 in Fig. 2) is set to brightness and saturation to contrast with the color of the cargo so that contrast between the surroundings and the cargo occurs. Directing is also effective.
Depending on the means of loading and transportation, the packaging may differ. In the vicinity of (102 in Fig. 2), one side is circular or slanted to match the inside of the circular aircraft. (164 in Fig. 2)
In this case, as shown in the figure, a portable ruler 102 having a part of a circle or a bevel is used.
If the edges are not regular, such as straight lines or circles, or if the packing is irregular (upper part of the object 100 in Fig. 3), the ruler seems to have the maximum height and width. A ruler is closely attached to the knot and measured, and a point or line is artificially click specified on the captured image data to extract a necessary line segment.
In principle, the number of CCD cameras may be one, but it is possible to improve the measurement accuracy by using one or more multi-directional images or two or more, and capturing images from multiple or multiple locations.

The invention of claim 2 is the invention of claim 1, the individual management information reading device of the cargo, the shape measurement, weight measurement, physical property measurement, workstation device, etc., conveyor device such as a conveyor or forklift (hereinafter referred to as the carrier device). ), A computer, etc., and the Internet, it is a device that comprehensively measures cargo and manages it.
A workstation device or the like is a device such as a build-up workstation or a downpit, and is a device that loads and unloads on a deck.
For example, a deck is set on the down pit, and the deck is lowered into the pit as the load increases, thereby facilitating loading work.
Measure the shape with the ruler method, measure the weight with the weigh scale (109 in Fig. 2), and use the individual management information reader (131 in Fig. 2) with the individual management information marker (104 in Fig. 2) Information) and measure physical properties such as temperature, color, pattern, etc. with a physical property measuring device (132 in FIG. 2), and simultaneously measure weight, shape, physical properties, and individual management information.
(Figure 2) shows a portable ruler in close contact with an object placed on a cargo pallet on a workstation device or a transport device, or a fixed ruler in the background.
Measurement system is weighing equipment, individual management information, physical property measuring device, camera is wireless or wired operation control communication device 110 (image processing, calculation, control, display, storage, wireless, wired communication function, etc. (Hereinafter referred to as a personal computer etc.).
In the present invention, there are four methods for measuring the shape by image processing.
The first method is to carry a single camera for measurement. (122 in Fig. 2)
It is more effective than a fixed camera for measuring cargo when transporting and transferring cargo with a forklift that unloads the cargo at any location while moving around.
All images include 6 or more feature points 103 such as ruler knots, points on objects, LED lighting, and reflective markers (or 3 points if the distance between 3 feature points is known) In addition, when a plurality of images taken from a plurality of locations are image-processed with a camera to be carried, the shape can be measured based on the principle of the separation stereo method. (See Patent Document 4)
The separation stereo method combined method, which is a part of the present invention, cannot be solved mathematically when feature points are insufficient or unclear, so use the distance meter combined camera and input the object distance from the camera into the formula By doing so, it is possible to measure with fewer feature points than the number required for the original separation stereo method. (Fig. 4 and later referred to as distance meter combined stereo method)
In the case of unclearness with few feature points, a method of irradiating clear feature points from a fixed projector (130 in FIG. 4) is also effective.
If the image is still unclear and the feature points cannot be processed or extracted, it can be reliably measured by artificially clicking and identifying the points or lines that appear to be feature points on the image data.
The second is a method of measuring with one camera fixed. (120 in Fig. 2)
Since errors due to camera shake shooting can be prevented and the shooting environment can be effectively produced by lighting or the like, this is an effective method at a work site that is fixed like a workstation device or a conveyor.
Part 3 is the stereo camera method. (121 in Figure 2)
In principle, feature point markers and rulers are not required, but they are still effective when used together.
Since there are two or more cameras, the device is suitable for the work site that is fixed like a workstation device or a conveyor, but if you use a small camera as a portable stereo camera, the above mentioned Can be used in the same way as 1 and 2.
With two or more cameras, the error is reduced and the efficiency of image processing to extract the sides of the object is improved.

No. 4 is a method combining a light cutting method (see Patent Documents 1 and 2) and a stereo camera method.
In the above methods 1, 2, and 3, when the cargo is irregularly shaped (example of a conical state near the top of the object 100 in FIG. 3), accurate measurement of a fine portion may not be possible.
(Fig. 3) is an explanation of the state in which an object placed on a cargo pallet on a workstation device or the like is irradiated with a cutting light laser and measured.
Without using a ruler, the cutting light 141 is randomly swept over the object by the laser irradiation device 142, and the three-dimensional coordinates of the intersection line 106 are calculated by the stereo camera method.
When sweeping, it is necessary for the stereo camera to shoot the intersection line 106 at the same time. If measures such as fixing the sweep axis and sweeping by motor drive are taken, efficient optical cutting method measurement can be performed.
It is also effective to attach a bandpass filter to the camera lens and capture only the cutting light component in the image.
In general, the optical cutting method takes some time until the entire sweeping with the cutting light is completed, and the measurement location is limited to the location where the cutting light is irradiated, but it is 130 when the whole needs to be measured at high speed. If you use a projector and a stereo camera, you can measure the shape almost instantaneously.
The object can be irradiated with a random pattern from the projector, and the shape of the entire object can be obtained by the stereo camera method.
Further, when the method of simultaneously irradiating a plurality of cutting lights (see Patent Document 2) is used, the problem of the sweep time delay does not occur.
(FIG. 3) The figure 123 shows a stereo camera, but if the angle between the optical axis of the camera and the optical axis of the projector or laser is known, the light cutting method using one camera can also be used.
The fourth method uses both the ruler method of claim 1 and the light cutting method and the stereo camera method, and the measurement data by each method can be compared, so that highly accurate measurement can be performed.
Even if not all devices can be placed at the measurement site, the present invention transmits processed images to a remote personal computer or the like via the Internet or a wireless wired communication device, performs image processing, computation, storage, editing, and other processing, and processing data. Etc. are fed back to the operator and displayed, output to the printer, pasted on the image object, and the object can be associated with the data.

The invention of claim 3 is an apparatus that combines the invention of claim 1 with the separation stereo method, light cutting method, or stereo camera method.
(Fig. 5) is a handy-type shape, size, weight, and individual management that combines a stereo camera or single camera with a cutting light irradiation device 142 or portable projector 124, a personal computer, and a weighing scale. Information measuring device.
A plane or a three-dimensional pallet including three or more feature point markers 103 is installed near the object.
(If the distance between the three is known, use 3 or more. If unknown, use 6 or more as a ruler.)
When the camera and cutting light use the integrated light cutting method, 103 is shared by all images, the cutting light is irradiated and photographed, the position and orientation of the camera is calculated by the method of claim 1, and the cutting light image Is calculated.
When each surface of the object has a certain angle with the ruler surface, for example, when measuring a rectangular parallelepiped object placed vertically on the ruler surface, measurement can be performed by single camera image processing. .
If the three intervals of the corner of the cargo pallet plane 108 and the marker 103 are known as shown in FIG. 5, the coordinates of points o, q, and s in FIG. It can be calculated.
The o, q, and s points are measurement feature points on the object, such as markers, laser pointer irradiation, and part of the pattern.
Repeat this process with different camera positions and synthesize the results.
In addition, the weight and individual management information are measured.
When the stereo camera method is used, a feature point marker or the like is not necessary in principle, but in practice, a method using cutting light can be measured efficiently.
In that case, since a plurality of image processing results are combined, it is necessary to place the feature point markers side by side.
The same can be said for the separation stereo method.
Individual management information such as barcodes and QR codes affixed to cargo is measured and analyzed with a cutting light and a camera, and a separate individual management information measuring device is not required.

In the logistics industry, the volume and shape determine the transportation capacity.
Although shape measurement is important, there is no appropriate and simple shape measurement sensor, and cargo shape measurement is forced to work manually, and the automation of weight, shape, and tabulation work is delayed, making it inefficient , Logistics congestion, and increased costs.
In the present invention, since the shape measurement work is a non-contact method by image processing, a highly flexible system can be combined with a weight scale, a conveyor, an image, a data transmission device, a totaling device, etc., which can accurately measure the shape and shape in a portable, high-speed manner. Can be built.
Accordingly, planned loading and delivery planning can be performed by the present invention, and waste, erroneous delivery, and the like are greatly reduced, which is a factor in labor saving and cost reduction in the industry.
If the present invention is used, physical information such as the weight, shape, and physical properties of the cargo and individual management information such as the contents of the cargo and the delivery destination are provided before the arrival of the cargo. The internal storage arrangement, the product arrangement at the sales floor, the display arrangement plan at the exhibition hall, etc. can be established in advance.
The simple handy version according to the present invention is also effective for product and cargo management at homes, offices, small town factories, small and medium farmers, convenience stores and the like.
It is a very powerful device to measure and measure the weight, shape, physical properties, and individual identification method collectively in the general industry as well as in the mass industry, and will be used in production, cargo handling, transportation, exhibition and sales, It spreads in every field of life.
Since it is possible to create a database of shape, dimensions, weight, measurement date and time, etc., it is also an effective means for tracking investigations such as loss of goods cargo and theft.

Using commercially available digital video cameras, mobile phones, digital weigh scales, personal computers, etc., software is developed, prototypes of the present invention are prototyped, and about 1 m of solid cargo is processed using the principles of the present invention. And the measurement experiment is continued.
In addition, the shape and weight are collectively measured using a weight sensor, and the loading plan and total dispatch plan are simulated in consideration of the model of the transport vehicle.
Furthermore, the experiment of the efficiency of the present invention is performed by photographing with a mobile phone, wireless image transmission, image processing with a remote personal computer or the like, and feeding back the measurement result to the mobile phone.

The prototype of the present invention is introduced at the material arrival management center of the company-related factory warehouse, the shape and weight are collectively measured, and the loading plan and the total dispatch plan are simulated in consideration of the model of the transport vehicle. Furthermore, the experiment of the efficiency of the present invention is performed by photographing with a mobile phone, wireless image transmission, image processing with a remote personal computer or the like, and feeding back the measurement result to the mobile phone.
As a result of experiments, by using the present invention, the cycle time is shortened compared with the conventional method, and the measurement accuracy and the variation in accuracy are greatly improved.

Since the present invention can measure the shape, weight, physical properties and individual management information at high speed and high performance, the application range is wide.
Product inspection / sorting / shipping / receiving / delivery management system in logistics, manufacturing, agriculture, fisheries and mining.
Simple device for measuring weight, shape, and individual management information in general households and small stores.
Conveyor volume, dump load volume, construction materials, etc. in construction work

It is drawing explaining the principle of invention of Claim 1. 5 is a diagram showing an overall configuration diagram of the invention of claim 2. FIG. 4 is a drawing showing a method of measuring an irregularly shaped object of the invention of claim 2 by a light cutting method. 6 is a diagram for explaining a method of using a distance meter and a projector together in the invention of claim 2. 6 is a drawing of a handy type measurement system using the invention of claim 3. 5 is a drawing showing an example of use of the invention of claim 2 for a cart type carriage. 6 is a drawing showing an example of use of the invention of claim 2 in a forklift type transport vehicle. 5 is a drawing showing an example of use of the invention of claim 2 for a belt conveyor type transfer machine.

a, b, c, d Apex of the ruler (c is also the corner point to be measured)
p Camera pinhole points (vertical points of each triangle and triangular pyramid)
Imj, k, l corner points of fixed-size window frames, furniture, etc.
m, n, h, g Corner point of a ruler installed in contact with the measurement object
o, r, s, q Points on a surface with a known relationship to the ruler
Tac, Tec, Tap, Tab, Tbc Angle from vertex P to each side of ac, ec, ap, ab, bc
Toq Angle of intersection with the ruler surface
100 Measurement object, cargo 101 Mobile ruler (right angle)
102 Portable ruler (partially non-right angle, circular) 103 Feature point markers (LED, reflective marker)
104 Individual management information marker
105 Transport devices such as workstation devices, forklifts, belt conveyors, carts
106 Intersection line between cutting light and object
107 Fixed ruler (background ruler) 108 Cargo pallet
109 Weigh scale
110 Arithmetic control communication device (built-in wireless, personal computer, etc.)
120 Single camera (fixed wireless device built-in) 121 Stereo camera (fixed type, wireless device built-in)
122 Single camera (Built-in wireless device) 123 Stereo camera (Built-in wireless device)
124 Portable projector
130 Lighting equipment and projector
131 Individual management information reader (built-in wireless device)
132 Physical property measurement device (built-in wireless device)
141 Cutting light (line laser, etc.) 142 Manual or automatic laser sweeper
150 Distance meter (built-in wireless device) 151 Stroke meter (Forklift lift measurement)
160 Downpit 161 Build-up workstation
162 Load Status on Build-up Workstation Deck
163 Internet
164 Storage status in circular warehouse

Claims (3)

One or more standard 3D rulers with known three-dimensional shape, dimensions, and physical properties are juxtaposed or closely attached to the measurement object, and the measurement object is measured from one or more locations with one or more CCD cameras. The measurement object with the solid ruler in close contact with or juxtaposed is photographed, the image of the measurement solid ruler and the image of the measurement object are processed, and the calculation is performed using the known dimensions and shape values of the ruler solid ruler. To obtain the dimensions and shape of the measurement object. Combining the invention of claim 1, the physical distribution device, the weigh scale, the other physical property measuring device, the line beam or pattern light irradiation device, the individual management information reading device of the measurement object, and the arithmetic control communication device, the size, shape, weight, A device that collectively measures other physical properties and reads individual management information. Combining the invention of claim 1 with a weigh scale, a line beam or pattern light irradiation device, one or more CCD cameras, etc., and an arithmetic control communication device, it is compact, lightweight, portable size, shape, weight measurement and individual management A device that collectively reads information.

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