WO2007043120A1

WO2007043120A1 - Transportation route determination device, transportation route determination method, and transportation route determination program

Info

Publication number: WO2007043120A1
Application number: PCT/JP2005/018177
Authority: WO
Inventors: Naohiro Hirota; Hirotaka Nishida; Haruo Obana; Ichirou Ono; Takeshi Miki
Original assignee: Fujitsu Limited; Ajinomoto Co., Inc.
Priority date: 2005-09-30
Filing date: 2005-09-30
Publication date: 2007-04-19
Also published as: JPWO2007043120A1; JP4791481B2

Abstract

IC tags (51-525) are installed such that they correspond to load reception racks (11-125) placed in a warehouse, and a transportation route determination device (100) to which a wide range reader (210) for detecting the IC tags (51-525) is connected is placed on a forklift truck (7) for carrying a load. In the middle of travel of the forklift truck (7) toward a destination rack, the transportation route determination device (100) determines places to pass through according to tag identification codes of IC tags detected by the wide region reader (210) and determines a transportation route based on predetermined conditions formed by logically combining the tag identification codes. The transportation route for the forklift truck (7) can be determined at high accuracy even if exceptional communications occur by influence of a reflective substance etc. to make detection of some of the IC tags impossible.

Description

Specification

Transport route determination device, transport route determination method, and transport route determination program

TECHNICAL FIELD [0001] The present invention relates to a transportation route determination device, a transportation route determination method, and a transportation route determination program that determine a transportation route of a transportation vehicle that moves toward a designated place among a plurality of places. When determining the transport route of a transport vehicle using a transmitter, etc., installed at the location, it must be possible to determine the transport route with high accuracy even in an environment where there are many reflective substances that can be disturbance factors in wireless communication. The present invention relates to a transportation route determination device, a transportation route determination method, and a transportation route determination program.

Background art

In recent years, the commercialization of IC tags has progressed, and IC tags have begun to spread gradually in the field of physical distribution. The IC tag stores various data and performs radio wave communication with a reader / writer that reads data from the IC tag and writes data to the IC tag.

[0003] As a technology using such an IC tag, for example, in PCTZJP2004Z019619, the IC tag is installed in association with each of a plurality of racks arranged in the warehouse in warehouse entry / exit work. Then, the IC tag reader / writer attached to the transport vehicle reads these IC tags, and based on the read IC tags, the position of the transport vehicle is determined based on the installation position of the IC tag that is presumably memorized. Describes a technique for determining and notifying the operator of the progress of a transport vehicle moving toward a target rack.

Disclosure of the invention

Problems to be solved by the invention

[0004] However, at IC tag introduction sites such as warehouses, exception communication occurs due to the influence of disturbance factors such as multi-stage rack metal frames and toy can products, and communication with IC tags that should be able to communicate normally is not possible. In some cases, it may become impossible, or conversely, communication may be possible with an IC tag that should not be able to communicate. However, in this case, there is a problem that the position of the transport vehicle cannot be determined correctly. . [0005] The present invention has been made in order to solve the above-described problems caused by the prior art, and is high even when exceptional communication occurs in the transport route of a transport vehicle such as a forklift due to the influence of disturbance elements. It is an object of the present invention to provide a transportation route determination device, a transportation route determination method, and a transportation route determination program that can be determined with accuracy.

Means for solving the problem

[0006] In order to solve the above-described problems and achieve the object, the present invention provides a transportation route determination device that determines a transportation route of a transportation vehicle that moves toward a designated place among a plurality of places. An identification information detecting means for receiving a signal transmitted from a transmitter installed in association with each of the plurality of locations, and detecting identification information indicating a position of the transmitter from the received signal; and the identification information detection Based on the logical combination of identification information detected by means! A transportation route determination means for determining whether or not the transportation vehicle is correctly traveling along the transportation route is provided.

[0007] According to this invention, a signal transmitted from a transmitter installed in association with each of a plurality of locations is received, and identification information indicating the position of the transmitter is detected and detected from the received signal. Based on the logical combination of the identification information, it is determined whether the transport vehicle is moving along the correct transport route. Therefore, exceptional communication occurs due to the influence of disturbance factors such as reflectors. Even if the identification information of the transmitter of the part is not detected, it can be determined whether or not the vehicle is correct and is capable of moving along the transportation route.

[0008] Further, according to the present invention, in the above invention, the transport route determination unit determines the position of the transport vehicle based on the identification information detected by the identification information detection unit, and the determined position and It is characterized in that it is determined whether or not the transporting vehicle travels along the transport route based on a condition logically combined with a position determined in the past.

[0009] According to the present invention, identification information is detected from transmitters installed in association with a plurality of locations, the position of the transport vehicle is determined based on the detected identification information, and the determined position and the past Based on a condition that logically combines the position determined in step 1, it is determined whether or not the transport vehicle is correctly traveling along the transport route, so exception communication is caused by the influence of disturbance factors such as reflectors. Even if the identification information of some transmitters is not detected and some of the points that the transport vehicle has passed cannot be determined, Based on the points, it can be determined whether the transport vehicle is following the correct transport route

[0010] Further, according to the present invention, in the above invention, the transport route determination unit determines a position of the transport vehicle based on a condition that logically combines the identification information detected by the identification information detection unit. It is characterized by that.

[0011] According to the present invention, identification information is detected from transmitters installed in association with a plurality of locations, and the position of the transport vehicle is determined based on a condition in which the detected identification information is logically combined. Therefore, the position of the transport vehicle can be determined even when exceptional communication occurs due to the influence of disturbance elements such as reflectors and the identification information of some transmitters is not detected.

[0012] Further, according to the present invention, in the above invention, the transport route determination unit determines a position of the transport vehicle based on the identification information detected by the identification information detection unit, and the determined position and The transport vehicle is corrected based on the condition obtained by combining the previously determined position with the logical product.

V. It is characterized in that it is judged whether or not it is possible to proceed along the transportation route.

[0013] According to the present invention, identification information is detected from transmitters installed in association with a plurality of locations, the position of the transport vehicle is determined based on the detected identification information, and the determined position is determined. Is determined based on the condition obtained by combining the previous position and the previously determined position by logical product, and it is determined whether the transport vehicle is moving along the correct transport route. Even if communication occurs and the identification information of some transmitters is not detected, and it is difficult to determine some of the points where the transport vehicle has passed,

If the point V is determined, it can be determined whether or not the transport vehicle is correctly traveling along the transport route.

[0014] Further, in the present invention according to the above invention, the transport route determination means may be configured so that the transport vehicle is correct.

V, it is judged whether or not the force to move forward on the transportation route, and if the transportation vehicle is correctly traveling on the transportation route, if it is V ヽ, the operator is notified that the transportation route has been removed. And

[0015] According to the present invention, it is determined whether or not the transport vehicle is correctly traveling along the transport route, and the transport vehicle is corrected and travels along the transport route. Since the pilot is notified that the The course of the transport vehicle can be corrected.

[0016] Further, in the present invention according to the present invention, the transport route determination unit is configured so that the transport vehicle is correct.

V, determine whether or not the force is correct by moving along the transport route, and if the transport vehicle is correctly traveling along the transport route, notify the operator that the transport route will travel correctly. It is characterized by.

[0017] According to the present invention, it is determined whether or not the transport vehicle is correctly traveling along the transport route. If the transport vehicle is correct and travels along the transport route, the transport route is correctly advanced. Thus, since the pilot is notified of this, the pilot can drive while constantly confirming that the transport vehicle is traveling along the correct transport route.

[0018] Further, the present invention is characterized in that, in the above-mentioned invention, the transmitter is an IC tag, and the identification information detecting means receives the IC tag force signal using an IC tag reader / writer.

[0019] According to the present invention, since the transmitter is an IC tag and the IC tag power is also received using an IC tag reader / writer, the type and format of identification information indicating the position of the transmitter is changed. It can be done.

[0020] Further, the present invention is a transportation route determination method for determining a transportation route of a transportation vehicle that moves toward a designated place among a plurality of places, and is installed in association with each of the plurality of places. An identification information detecting step of receiving a signal transmitted from the transmitter and detecting identification information indicating the position of the transmitter from the received signal, and the identification information detected by the identification information detection step logically. The transport vehicle is correct based on the combined conditions.

V, a transportation route judgment process for judging whether or not the force is advanced through the transportation route.

[0021] According to the present invention, a signal transmitted from a transmitter installed in association with each of a plurality of locations is received, and identification information indicating the position of the transmitter is detected and detected from the received signal. Based on the logical combination of the identification information, it is determined whether the transport vehicle is moving along the correct transport route. Therefore, exceptional communication occurs due to the influence of disturbance factors such as reflectors. Even if the identification information of the transmitter of the part is not detected, it can be determined whether the transport vehicle is correct and the force is sufficient to travel along the transport route. [0022] Further, the present invention is a transportation route determination program for determining a transportation route of a transportation vehicle that moves toward a designated place among a plurality of places, and is installed in association with each of the plurality of places. The identification information detection procedure for detecting the identification information indicating the position of the transmitter from the received signal and the identification information detected by the identification information detection procedure are logically received. And a transportation route determination procedure for determining whether or not the transportation vehicle corrects and travels along the transportation route based on the conditions combined with the above.

[0023] According to the present invention, a signal transmitted from a transmitter installed in association with each of a plurality of locations is received, and identification information indicating the position of the transmitter is detected and detected from the received signal. Based on the logical combination of the identification information, it is determined whether the transport vehicle is moving along the correct transport route. Therefore, exceptional communication occurs due to the influence of disturbance factors such as reflectors. Even if the transmitter identification information is not detected, it is possible to determine whether or not the transport vehicle is correct and capable of propelling the transport route.

The invention's effect

[0024] According to the present invention, even when exceptional communication occurs due to the influence of a disturbance element such as a reflector and the identification information of some transmitters is not detected, the transport vehicle correctly travels the route. Therefore, it is possible to minimize events such as skipping of transmitters and reading omissions, and to determine whether or not the transporting vehicle correctly moves along the transport path with high accuracy. If you can!

[0025] Further, according to the present invention, exceptional communication occurs due to the influence of a disturbance element such as a reflector and the identification information of some transmitters is not detected. Even if it is difficult to determine the location of the transmitter, it is possible to determine whether the transport vehicle is moving along the correct route based on the other determined locations. It is possible to minimize the phenomenon such as, and to determine whether or not the transporting vehicle is correctly moving along the transporting route with high accuracy.

[0026] Further, according to the present invention, even when exceptional communication occurs due to the influence of a disturbance element such as a reflector and the identification information of some transmitters is not detected, the position of the transporting vehicle is determined. It is possible to minimize the events such as skipping and reading omission of the transmitter, and high accuracy. With this, the position of the transport vehicle can be determined.

[0027] Further, according to the present invention, exceptional communication occurs due to the influence of a disturbance element such as a reflector and the identification information of some transmitters is not detected. Even if it is difficult to determine the location of the vehicle, if the two correct locations are determined, it can be determined whether the transport vehicle is correct and the route is correct. It is possible to minimize events such as skipping and reading omissions, and to determine whether or not the transporting vehicle is right and high on the transportation route with high accuracy.

[0028] Further, according to the present invention, the pilot can recognize at an early stage that he has deviated from the transportation route, and can correct the course of both transportation vehicles, so he can efficiently maneuver the transportation vehicle to the target location. If you can!

[0029] Further, according to the present invention, since it is possible to drive while constantly confirming that the transport vehicle travels along the normal transport route, it is possible to efficiently maneuver the transport vehicle to the target location. There is an effect that can be done.

[0030] Further, according to the present invention, since the type and format of identification information indicating the position of the transmitter can be changed, the number is set so as to be easily associated with the position of the place where the transmitter is installed. The identification information can be appropriately set according to the situation.

Brief Description of Drawings

[0031] [FIG. 1] FIG. 1 is an explanatory diagram for explaining the concept of a transport route determination device according to the present embodiment.

FIG. 2 is a functional block diagram showing the configuration of the transport route determination device 100 according to the present embodiment.

FIG. 3 is a diagram showing an example of an inventory instruction information storage unit 140.

FIG. 4 is a diagram showing an example of a location information storage unit 150.

[FIG. 5] FIG. 5 is a flowchart showing a processing procedure of the transport route determining apparatus 100 according to the present embodiment.

FIG. 6 is a functional block diagram showing the configuration of a computer that executes a transportation route determination program according to the present embodiment.

Explanation of symbols 1 1 rack

1 25

2 2 Rack 歹 IJ

1 5

3 3 Approaching race

13

4 Passing lane

5 5 IC tag

Ό 6 locations

1 1 0

7 Forklift

100 Transport route judgment device

110 Input section

120 Display

130 IC tag reader controller

140 Inventory instruction information storage

150 Location information storage

160 Passing point judgment part

170 Route determination unit

180 Passing point memory

210 Wide area reader

220 Reader for right narrow area

230 Reader for left narrow area

300 -300 Tag information

1 25

00 computer

10 RAM

11 Transportation route judgment program 20 CPU

21 Transport route judgment process 30 HDD

40 PC interface 50 person output interface BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of a transportation route determination device, a transportation route determination method, and a transportation route determination program according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Example

First, the concept of the transport route determination device according to the present embodiment will be described. FIG. 1 is an explanatory diagram for explaining the concept of the transport route determination device according to the present embodiment. In the example shown in the figure, racks 1 to 1 for placing luggage in the warehouse have 1 rack for 5 racks.

1 25

Rack rows 2 and 2, and entry lane 3 to allow forklift 7 to enter between rack rows

1 5 1

3 and passing lane 4 passing next to rack rows 2 and 2 are arranged.

3 1 5

. In this example, it is assumed that rack 1 is set as a rack for loading and unloading packages.

14

[0035] IC tags 5 to 5 are attached to racks 1 to 1 in association with each other. this

1 25 1 25

These IC tags 5 to 5 each store tag information. This tag information includes

1 25

A tag identification code that is unique for each group is included.

The forklift 7 is provided with a transport path determination device 100 that determines the transport path of the forklift 7, a wide area reader 210, a right narrow area reader 220, and a left narrow area reader 230.

[0037] The wide area reader 210 is connected to the transport route determination device 100 and includes a plurality of IC tags 5.

1

~ 5 force Directionality is adjusted to be within the communication range that can read tag information

twenty five

Yes.

[0038] The right narrow area reader 220 is connected to the transport path determination device 100 so that only one of the IC tags located on the right side of the forklift 7 can read the power tag information. The directivity is adjusted so that the communication range is narrower than that of the wide area reader 210.

[0039] The left narrow area reader 230 is connected to the transport route determination device 100 so that only one of the IC tags located on the left side of the forklift 7 can read the power tag information. The directivity is adjusted so that the communication range is narrower than that of the wide area reader 210. [0040] The transport route determination device 100 is preliminarily emphasized, and the forklift 7 based on the IC tags 5 to 5 is used.

1 25

The location determination condition for determining the position and the arrival route determination condition for determining the progress of the forklift 7 are stored.

[0041] Here, the location determination condition is a wide area resource at predetermined points 6 to 6 in the warehouse.

1 10

This is a condition that logically combines IC tags 5 to 5

twenty five

[0042] In the example shown in FIG. 1, (5 or 5) for point 6 is (5 or 5) for point 6.

1 1 6 2 6 or 5) is at point 6, (5 or 5) is at point 6, (5 or 5) is at land

11 3 11 16 4 16 21

[Tip! / (5 and 5) or (5 ana 5) or (5 and 5) or (5 and

5 1 6 2 7 1 2 6

5) is (5 and 5) or (5 and 5) or (5 and 5) or (5 a

7 6 2 7 3 8 2 3 7 nd 5) is (5 and 5) or (5 and 5) or (5 and 5) or (

8 7 3 8 4 9 3 4

5 and 5), point 6, (5 and 5) or (5 and 5) or (5 and 5)

8 9 8 11 16 12 17 11 12 or (5 and 5), point, 6 (5 and 5) or (5 and 5) or (5 a

16 17 9 12 17 13 18 12 nd 5) or (5 and 5) is (5 and 5) or (5 and 5)

13 17 18 10 13 18 14 19 or (5 and 5) or (5 and 5)

13 14 18 19

It is justified.

[0043] Based on this location determination condition, IC tag 5 to 5 read by wide area reader 210

1 By judging the combination of 25, the point where the forklift 7 has passed at that point

1

It is possible to determine 6 semi-IJ.

Ten

[0044] Here, when the forklift 7 is traveling, an exceptional communication occurs, and the IC readers 5 to 5 that are supposed to be detected by the wide area reader 210 at each point are not always detected.

1 25

However, the location determination condition is satisfied, and it can be determined that the forklift 7 has passed the point.

[0045] For example, when the forklift 7 passes through the point 6, normally the IC tags 5 and 5 are

1 1 6

Although it should be detected by the wide area reader 210, even if an exceptional communication occurs, if any one IC tag is detected, it can be determined that the point 6 has been passed.

1

[0046] Similarly, if forklift 7 passes through point 6, normally the IC tags 5 and 5 are

2 6 11

It should be detected by the wide area reader 210. If one IC tag is detected, it can be determined that the vehicle has passed point 6.

2

[0047] Similarly, if a forklift 7 passes through point 6, normally the IC tags of 5 and 5

3 11 16 should be detected by the wide area reader 210, but even if an exceptional communication occurs, if any one IC tag is detected, it can be determined that the point 6 has been passed.

Three

[0048] Also, if forklift 7 passes through point 6, normally 5, 5, 5, and

8 11 12 16

If the IC tag of 5 should be detected by the reader 210 for wide area

17

Even if two IC tags adjacent to each other or two IC tags facing each other are detected, it can be determined that the vehicle has passed the point 6.

8

[0049] Similarly, if forklift 7 passes through point 6, it is normally 5, 5, 5, and

9 12 13 17 and 5 IC tag should be detected by wide area reader 210 Exception communication occurred

18

However, if any two adjacent IC tags are detected, or any two facing IC tags are detected, the point 6

It can be determined that 9 has been passed.

[0050] Similarly, if a forklift 7 passes through point 6, it is normally 5, 5, 5, and

10 13 14 18 and 5 IC tags should be detected by the wide area reader 210 Exception communication occurred

19

It can be determined that 10 has been passed.

[0051] In addition, the arrival route judgment condition is a combination of two points by logical product from all points on the route until reaching the rack to be loaded and unloaded, and further logical combination of all logical products. It is a condition tied in the sum.

[0052] In the example shown in FIG. 1, the land on the route to reach rack 1 to be loaded and unloaded.

14

From point 6, 6, 6, 6, 6, and 6, (point 6 and point 6) or (point 6 and point

1 2 3 8 9 10 1 2 1

6) or (Point 6 and Point 6) or (Point 6 and Point 6) or (Point 6 and Point 6

3 1 8 1 9 1

) or (Point 6 and Point 6) or (Point 6 and Point 6) or (Point 6 and Point 6

10 2 3 2 8 2 9

) or (Point 6 and Point 6) or (Point 6 and Point 6) or (Point 6 and Point 6)

2 10 3 8 3 9 or (Point 6 and Point 6) or (Point 6 and Point 6) or (Point 6 and Point 6)

3 10 8 9 8 10 or (point 6 and point 6) is set as the arrival route judgment condition.

9 10

[0053] Based on the arrival route determination condition, a combination of the passage points 6 to 6 determined based on the location determination condition described above and the points 6 to 6 determined at the previous determination is determined. As a result, the forklift 7 correctly travels along the route to reach the rack 1 to be loaded and unloaded.

14

With !, you can judge whether or not you have the power.

[0054] Here, even if an exceptional communication occurs during the forklift 7 travels, at least one of the points 6, 6, 6, 6, 6 or 6 is determined according to the location determination condition described above.

1 2 3 8 9 10

At least one of points 6, 6, 6, 6, 6 or 6

1 2 3 8 9 10 U If it is set, it can be determined that the arrival route determination condition is satisfied and the forklift 7 is correctly traveling on the route.

For example, it is assumed that the forklift 7 travels along the route in the order of points 6, 6, and 6. Through point 6

3 8 9 8 When an exception occurs, an exception communication occurs and IC tag reader 200 detects IC tags 5 and 5.

11 16 is not possible, and as a result, the point 6 cannot be judged due to the location judgment condition

8

However, if point 6 was determined at the previous determination, the next time point 6 was determined,

3 9

It can be determined that the forklift 7 is following the route correctly.

[0056] By the way, if the forklift 7 enters the wrong approach lane 3,

1

The IC tags 5 and 5 are detected by the reader 210. Then, depending on the location judgment condition,

2 7

Oak lift 7 is determined to have passed point 6 or 6, and the route determination condition is met.

5 6

Therefore, it is determined that the forklift 7 has also lost its path force. In this case, a warning message is sent to the pilot indicating that he is approaching the wrong lane.

[0057] In addition, when the forklift 7 is traveling on the passing lane 4, to reach the rack 5

14

If you have passed the entry lane 3 you should enter, the IC

2

Tag 5 is detected. Then, forklift 7 will be at point 6 according to the location criteria.

Since it is determined that the vehicle has passed through 21 4 and the arrival route determination condition is not satisfied, it is determined that the forklift 7 has deviated from the route. In this case, a warning message is sent to the pilot indicating that the vehicle has passed the target lane.

[0058] Further, the IC tag corresponding to the rack 1 to be loaded / unloaded is detected on the IC tag detected by the wide area reader 210.

14

, The right narrow area reader 220 and the left narrow area reader 230 are activated.

14

To do. If any narrow area reader detects the target IC tag 5,

14

A message is sent to the Clift 7 operator indicating that the desired rack 1 has been found.

14

It is. [0059] As described above, the transport route determination device 100 according to the present embodiment includes the location determination condition that logically combines the IC tag codes and the arrival route determination condition that combines the passing points at the time. By using a combination of judgments, IC tags 5 to 5 that should be detected by exception communication at each point on the route to the target rack are detected.

1 25 Even if it is not detected, it is possible to determine whether the force is correctly traveling along the route.

Next, the configuration of the transport route determination device 100 according to the present embodiment will be described. FIG. 2 is a functional block diagram illustrating the configuration of the transport route determination device 100 according to the present embodiment. As shown in FIG. 2, a wide area reader 210, a right narrow area reader 220, and a left narrow area reader 230 are connected to the transport route determination apparatus 100.

[0061] The wide area reader 210 receives tag information 300 to 3 stored in the IC tags 5 to 5 respectively.

1 25 1

A device that reads 00. This wide area reader 210 also has tag information for multiple IC tag powers.

twenty five

The directivity is adjusted so that the communication range can be read.

[0062] The right narrow area reader 220 receives tag information 300 stored in each of the IC tags 5-5.

1 25 1

A device that reads ~ 300. This right narrow area reader 220 is located on the right side of the forklift 7.

twenty five

The directivity is adjusted so that the communication range is such that tag information can be read from only one IC tag.

[0063] The left narrow area reader 230 receives the tag information 300 stored in each of the IC tags 5-5.

1 25 1

A device that reads ~ 300. This left narrow area leader 230 is located on the left side of the forklift 7.

twenty five

The directivity is adjusted so that only one IC tag is within the communication range where the tag information can be read.

[0064] The tag information 300 to 300 stored in the IC tags 5 to 5 includes the respective IC tags.

1 25 1 25

A tag identification code that uniquely identifies the tag is included.

[0065] The transport route determination device 100 is a device mounted on the forklift 7, and determines whether or not the forklift 7 is correctly traveling on the route to the rack for loading and unloading the luggage. To the pilot.

[0066] This transport route determination device 100 includes an input unit 110, a display unit 120, an IC tag reader control unit 130, an inventory instruction information storage unit 140, a location information storage unit 150, and a passage point determination. Unit 160, route determination unit 170, and passage point storage unit 180.

[0067] The input unit 110 is an input device such as a keyboard, a button, or a switch. The display unit 120 is an output device such as a display.

[0068] The IC tag reader control unit 130 detects a tag identification code from the tag information 300 to 300 read by the wide area reader 210, the right narrow area reader 220, and the left narrow area reader 230.

1 25

It is a science department.

[0069] The stock instruction information storage unit 140 is a storage unit that stores a tag identification code of an IC tag corresponding to a rack in which a package is loaded and unloaded, and an arrival route determination condition indicating a route to the rack. FIG. 3 is a diagram illustrating an example of the stock instruction information storage unit 140. As shown in the figure, the stock instruction information storage unit 140 stores a tag identification code of an IC tag corresponding to a rack for loading and unloading a package, and arrival route determination conditions. The arrival route judgment condition here is a condition in which location numbers corresponding to points on the route until reaching the rack are combined with logical product (and) and logical sum (or). In the example shown in the figure, the tag identification codes of the IC tags 5 to 5 are “T01” to “T25”, respectively.

1 25

The location numbers corresponding to ~ 6 are "1" to "10", respectively.

1 10

[0070] The location information storage unit 150 has locations corresponding to predetermined points 6 to 6 in the warehouse.

1 10

This is a storage unit for storing the file number, the location determination condition, and the rack classification. FIG. 4 is a diagram illustrating an example of the location information storage unit 150. As shown in the figure, this location information storage unit 150 stores, for each predetermined point in the warehouse, a tag identification code corresponding to each point, a location determination condition, and a rack category in association with each other. .

[0071] The location determination condition here is a combination of the tag identification codes of the IC tags 5 to 5 that are assumed to be read by the wide area reader 210 at the relevant point, as a logical product (and) and a logical sum (or).

1 25

These are the conditions set together.

[0072] In addition, the rack section is the force passing lane 4 on the approach lanes 3 to 3

13

If it is on the approach lanes 3 to 3, “1” is set.

13

If it is on the passing lane 4, “0” is set.

[0073] In the example shown in the figure, the tag identification codes of the IC tags 5 to 5 are set to "T01" to "

1 25

Τ25 ”, and the location numbers corresponding to points 6 to 6 shown in Figure 1 are“ 1 ”. ~ "10".

The passing point determination unit 160 is a processing unit that determines a point where the forklift 7 has passed based on a tag identification code detected by the IC tag reader control unit 130 via the wide area reader 210. Specifically, the passage point determination unit 160 refers to the location information storage unit 150, and is a point where the location determination condition is satisfied by the tag identification code detected by the IC tag reader control unit 130 via the wide area reader 210. And extract the location number and rack category.

The passing point determination unit 160 refers to a location determination condition obtained by logically combining the tag identification codes stored in the location information storage unit 150, thereby causing an exception communication and generating a wide area reader. 210 correctly reads some of the IC tags 5 to 5

1 25

Even if there is a strong force, the point where the forklift 7 has passed can be determined.

[0076] The route determination unit 170 is a processing unit that determines whether or not the forklift 7 is correctly traveling along the route until it reaches the rack to be loaded and unloaded. Specifically, the route determination unit 170 first determines the combination of the location number extracted by the passage point determination unit 160 and the location number at the time of the previous determination stored in the passage point storage unit 180 as an inventory instruction. The determination is made based on the arrival route determination condition in the information storage unit 140.

Then, if the arrival route determination condition is satisfied, the route determination unit 170 determines that the forklift 7 is correctly traveling on the route, and outputs a message to the operator on the display unit 120. Here, if the rack classification of all the points determined by the passing point determination unit 160 based on the location determination condition is “1”, it is determined that the forklift 7 has entered the target entry lane, and the target Display a message indicating that you have entered the lane. On the other hand, if the rack classification is “0”, the forklift 7 has not yet entered the target entry lane, but has determined that it is traveling the correct route, and proceeds correctly. Display a message indicating that Further, the location number is stored in the passing point storage unit 180 for use in the next route determination.

On the other hand, when the arrival route determination condition is not satisfied, the route determination unit 170 determines that the forklift 7 has deviated from the route and outputs a warning message to the driver on the display unit 120. Here, all the points determined by the passing point determination unit 160 based on the location determination conditions If the rack classification power at the point of S is “l”, it is determined that the vehicle entered the wrong approach lane.

Display a warning message indicating that you entered the wrong lane. On the other hand, if the rack classification force s “o” is included, it is determined that the target approach lane has been passed, and a warning message indicating that the target lane has been passed is displayed.

[0079] In addition, the route determination unit 170, when the IC tag detected by the IC tag reader control unit 130 via the wide area reader 210 includes an IC tag corresponding to the target rack, Start reader 220 and left narrow reader 230 and read the IC tags on the left and right of forklift 7. Here, when the right narrow area reader 220 reads the target IC tag, a message indicating that the target rack has been found is displayed on the right side. When the left narrow area reader 230 reads the target IC tag, a message indicating that the target rack has been found is displayed on the left side.

[0080] This route determination unit 170 makes an exception by referring to the arrival route determination condition that is a logical combination of location numbers indicating predetermined points in the warehouse stored in the inventory instruction information storage unit 140. When communication occurs and the wide area reader 210 is the IC tag 5-5

Even if some IC tags can be read correctly, it is possible to determine whether or not the route to the rack where the forklift 7 enters and exits is correctly progressed.

[0081] The passage point storage unit 180 is a storage unit that stores the location number extracted by the passage point determination unit 160 when the route determination unit 170 determines that the forklift 7 is traveling along the route correctly. is there.

[0082] The control unit 190 is a processing unit that controls the entire transportation route determination device 100. Specifically, the control unit 190 transfers control between functional units, and transfers data between the functional units and the storage unit. By doing so, the transportation route determination device 100 functions as one device.

[0083] Next, a processing procedure of the transport route determination device 100 according to the present embodiment will be described. FIG. 5 is a flowchart showing a processing procedure of the transportation route determination device 100 according to the present embodiment.

[0084] As shown in the figure, in this transport route determination device 100, the wide area reader 210 reads the tag information 300 to 300 of the surrounding IC tag 5 to 5 force, and the IC tag reader control unit 130

1 25 1 25

A tag identification code is detected from the tag information 300 to 300 (step S101). [0085] Then, the passing point determination unit 160, from the location information storage unit 150, based on the tag identification code detected by the IC tag reader control unit 130, the location numbers and racks of all points that satisfy the location determination condition. A category is extracted (step S102).

[0086] If there is no point where the location determination condition is satisfied (step S103, No), the process returns to step S101. On the other hand, when there are one or more points where the location determination condition is satisfied (step S 103, Yes), the route determination unit 170 uses the location number extracted by the passage point determination unit 160 and the passage point storage unit 180. The combination with the location number stored in is determined based on the arrival route determination condition (step S104).

[0087] If the arrival route determination condition is satisfied (step S105, Yes), the rack classification of all points extracted by the passing point determination unit 160 based on the location determination condition is “1” (on the approach lane). ) .If the rack classification at all points is `` 1 '' (Yes in step S106), it is determined that forklift 7 has entered the target entry lane and the target lane is entered. A message indicating that the vehicle has entered is displayed (step S107). On the other hand, if there is a point where the rack classification is not “1” (step S106, No), the forklift 7 has not yet entered the intended approach lane, but is traveling on the correct route. A message is displayed indicating that the route is correctly in progress (step S108). Further, the location number extracted by the passing point determination unit 160 is stored in the passing point storage unit 180 (step S109).

[0088] If there is no help in satisfying the route determination condition (step S105, No), the rack classification of all points extracted by the passing point determination unit 160 based on the location determination condition is "1". ”(On the approach lane), and if the rack classification at all points is“ 1 ”(step S 110, Yes), it is determined that forklift 7 has entered the wrong lane, A message indicating that the vehicle has entered the wrong lane is displayed (step S111), and the process returns to step S101. On the other hand, if a point that is not rack division force “l” is included (Step S110, No), a message indicating that the forklift has passed the target approach lane is displayed (Step S112). Return to S101.

[0089] The IC tag corresponding to the target rack is read by the IC tag read by the wide area reader 210. If it is included (step SI 13, Yes), the right narrow area reader 220 and the left narrow area reader 230 are activated to read the IC tags on the left and right of the forklift (step S114).

[0090] When the right narrow area reader 220 reads an IC tag corresponding to the target rack,

(Step S115, Yes), a message indicating that the target rack has been found is displayed on the right side (Step S116). If the left narrow area reader 230 reads the IC tag corresponding to the target rack (step S 117, Yes), a message indicating that the target rack has been found is displayed on the left side (step S118). .

[0091] In this way, the passing point determination unit 160 and the route determination unit 170 determine at any time whether or not the forklift is traveling on the correct route, and when entering the wrong lane, Alternatively, by displaying a warning message on the display unit 120 immediately after entering, the operator of the forklift 7 can recognize the mistake at an early stage.

[0092] As described above, in the present embodiment, the passing point determination unit 160 detects the IC tag detected by the IC tag reader control unit 130 at each passing point on the route until it reaches the target rack. Based on the tag identification code, the passage determination unit 170 determines the passing point based on a predetermined location determination condition obtained by combining the tag identification code with logical product (and) and logical sum (or). Based on the passage point determined by the point determination unit 160, the passage point is determined by a predetermined arrival route determination condition that is combined with logical product (and) and logical sum (or). IC tags that should be generated and detected 5

Even if 1 to 5 are read, the transport route can be determined with high accuracy by minimizing events such as skipping and omissions.

[0093] In this embodiment, 25 racks are arranged so that one row consists of 5 racks, 5 rows of racks, 3 entrance lanes, and 1 passage lane. However, the present invention is not limited to this example, and each judgment condition is not limited to a warehouse having a different number of racks, rack rows, and lanes. The same can be applied by setting according to the configuration.

[0094] Further, in this embodiment, at the passing point at two time points, the force is configured to determine whether or not the forklift is traveling on the correct route. The force is determined at the passing point at three or more time points. May be. [0095] Further, in this embodiment, all the numbers indicating the position of the force raising rack configured to determine the passing point of the forklift using the tag identification code of the IC tag corresponding to each rack are all shown. The forklift passing point may be determined using the number or the like stored in the IC tag.

Further, in this embodiment, the IC tag is detected by using three IC tag readers, a wide area reader, a right narrow area reader, and a left narrow area reader. The IC tag reader may be used to detect the IC tag by controlling the directionality and directivity.

Further, in the present embodiment, the transportation route determination device has been described, but a transportation route determination program having the same function can be obtained by realizing the configuration of the transportation route determination device by software. Can do. Therefore, a computer that executes this transportation route determination program will be described.

FIG. 6 is a functional block diagram showing a configuration of a computer that executes the transportation route determination program according to the present embodiment. As shown in the figure, the computer 400 has a RAM 410, a CPU 420, an HDD 430, a PC interface 440, and an input / output interface 450.

The RAM 410 is a memory that stores a program, a program execution result, and the like. The CPU 420 is a central processing unit that reads a program from the RAM 410 and executes the program.

[0100] The HDD 430 is a disk device for storing programs and data, and the PC interface 440 is an interface for connecting the computer 400 to another computer.

[0101] The input / output interface 450 is an interface for connecting an input device such as a keyboard, an output device such as a display, and a reading device such as an IC tag reader.

[0102] The transport route determination program 411 executed in the computer 400 is stored in a database of another computer connected via the PC interface 440, and is read from the database and stored in the computer 400. Installed.

[0103] The installed transport route determination program 411 is stored in the HDD 430. , Read into the RAM 410 and executed by the CPU 420 as the transport route determination process 421.

Industrial applicability

As described above, the transportation route determination device, the transportation route determination method, and the transportation route determination program according to the present invention are useful for an entry / exit management system using an IC tag, and in particular, exceptional communication due to the influence of disturbance factors It is suitable for determining the route with high accuracy and efficiency even in an environment where the occurrence of a problem is likely to occur.

Claims

The scope of the claims

[1] A transport route determination device for determining a transport route of a transport vehicle that moves toward a designated portion among a plurality of locations,

Identification information detecting means for receiving a signal transmitted from a transmitter installed in association with each of the plurality of locations, and detecting identification information indicating the position of the transmitter from the received signal;

Based on the condition that the identification information detected by the identification information detection means is logically combined! /, The transportation route judgment means for judging whether or not the transportation vehicle is correctly traveling along the transportation route;

A transportation route determination device characterized by comprising:

[2] The transport route determination means determines the position of the transport vehicle based on the identification information detected by the identification information detection means, and logically combines the determined position and the previously determined position. Based on conditions! 2. The transportation route determination device according to claim 1, wherein the transportation route determination device determines whether the transportation vehicle is correctly traveling along the transportation route.

[3] The transport route determination unit according to claim 1 or 2, wherein the transport route determination unit determines the position of the transport vehicle based on a condition obtained by logically combining the identification information detected by the identification information detection unit. The transport route determination device described.

[4] The transport route determination means determines the position of the transport vehicle based on the identification information detected by the identification information detection means, and combines the determined position and the previously determined position by a logical product. 3. The transport route determination device according to claim 2, wherein the transport route determination device determines whether the transport vehicle is correctly traveling along the transport route based on the conditions.

[5] The transport route determination means determines whether the transport vehicle is correctly traveling along the transport route! / Whether or not, and if the transport vehicle does not travel along the correct transport route, the transport route is off. The transport route determination device according to claim 1, wherein the operator is notified of the fact.

[6] The transport route determination means determines whether the transport vehicle is correctly traveling along the transport route! / Whether or not. If the transport vehicle is traveling on the correct transport route, the transport route proceeds correctly. 2. The transport route determination device according to claim 1, wherein the driver is notified of V.

[7] The transmitter is an IC tag,

The transport path determination device according to claim 1 or 2, wherein the identification information detection means receives a signal from the IC tag using an IC tag reader / writer.

[8] A transport route determination method for determining a transport route of a transport vehicle moving toward a designated portion among a plurality of locations,

An identification information detection step of receiving a signal transmitted from a transmitter installed in association with each of the plurality of locations, and detecting identification information indicating a position of the transmitter from the received signal;

Based on the condition that the identification information detected by the identification information detection step is logically combined! /, A transport route determination step for determining whether the transport vehicle is correctly traveling on the transport route, and

A transportation route determination method characterized by including

[9] A transportation route determination program for determining a transportation route of a transportation vehicle moving toward a designated portion among a plurality of portions,

An identification information detection procedure for receiving a signal transmitted from a transmitter installed in association with each of the plurality of locations and detecting identification information indicating the position of the transmitter from the received signal;

Based on a condition that logically combines the identification information detected by the identification information detection procedure! /, A transportation route determination procedure for determining whether or not the transportation vehicle is correctly traveling along the transportation route;

A transport route determination program characterized by causing a computer to execute.