US Patent 11995865 Article position estimation system and article position estimation method

Article position estimation system comprises: article movement recognition part; reference point recognition part; position information generation part; and article position estimation part. Article movement recognition part generates article movement information including time point when article is taken out by mobile body or time point when article placement is completed by mobile body. Reference point recognition part recognizes reference point and generates reference point recognition information including identification information according to recognized reference point, reference point recognition time point, and information related to recognized reference point. Position information generation part generates information related to position of mobile body at reference point recognition time point based on reference point recognition information. Article position estimation part estimates position of mobile body at the time when article is moved by using at least position of mobile body at reference point recognition time point.