JP2005203977A - Location determining device and method, location managing system, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To determine the position of a location with precision capable of specifying the positions of adjacent locations. <P>SOLUTION: A location determining device determines the position of the location L in a location management region 1 having a plurality of locations L to be divided. A detection means 14 is provided in a mobile unit 2 for detecting the presence or absence of an article W at the location L around the mobile unit 2. A storage means 25 stores the presence or absence of the article W at each location L in the location management region 1. A determining means 24 determines the position of the location L that the mobile unit 2 tries to reach on the basis of a result detected by the detection means 14 and content stored by the storage means 25. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to location determination in a location management area including a plurality of locations to be classified.

  2. Description of the Related Art Conventionally, a forklift position detection device in a wireless LAN system that allows a forklift to perform loading / unloading work in a warehouse or the like that is a location management area having a plurality of divided locations is known (see Patent Document 1). This forklift position detection device is a wireless LAN system in which a plurality of antennas are arranged in a warehouse, and wireless communication is performed between the antennas and the onboard unit of the forklift. Then, the intensity of the signal from the forklift on-board unit received by each antenna is compared, and based on the result, the position of the forklift is discriminated in relation to the arrangement position of each antenna.

Japanese Patent Laid-Open No. 7-154848 (page 2-3, FIG. 1)

  However, the forklift position detection device described in Patent Document 1 detects the position of the forklift on the basis of radio signals from the forklift onboard units received by a plurality of antennas, so that sufficient position detection accuracy is ensured. Difficult to do. For example, when the location management area is a warehouse having a plurality of flat place numbers (locations) in which articles are transported by a forklift together with a pallet of about 1 m square, the antenna is usually spaced at an interval of about 50 m. It is arranged with. In this case, the position detection accuracy that can specify the position of the forklift is considered to be about 1 to 3 m, and among the flat place numbers on which pallets of about 1 m square are placed, the positions of adjacent ones can be specified. It is difficult to ensure accuracy. In order to appropriately discriminate between adjacent flat lot numbers and specify each flat lot number, it is considered that accuracy at least half the size of the flat lot number is required. In addition, it is theoretically possible to detect the position by reducing the antenna arrangement pitch according to the required accuracy, but it is extremely difficult in practice.

  In view of the above circumstances, an object of the present invention is to make it possible to determine the location of a location with an accuracy capable of specifying the positions of adjacent locations in a location management area having a plurality of locations to be classified.

Means and effects for solving the problems

The location determination apparatus according to the present invention relates to a device for determining a location of a location in a location management area having a plurality of locations to be classified.
And the location determination apparatus of this invention has the following some features in order to achieve the said objective. That is, the following features are provided alone or in appropriate combination.

  In order to achieve the above object, a first feature of the location determination apparatus of the present invention is that a moving unit is provided for detecting presence / absence of an article at a location around the moving unit, and in the location management area. Storage means for storing the presence / absence of an article at each location, and determination means for determining the location of the location to which the mobile body is to reach based on the detection result of the detection means and the storage content of the storage means, Is.

  According to this configuration, it is possible to detect the presence or absence of an article at a location around the moving body by the detection means. Then, based on the detection result and the stored content about the presence / absence of the article at each location stored in the storage means, that is, by comparing the detection result with the stored content, the location where the mobile body is to reach Can be determined. This makes it possible to specify the location of the target location for each location. In other words, it is possible to determine the position of the location with an accuracy capable of specifying the positions of adjacent locations.

  A second feature of the location determination apparatus according to the present invention is that the moving body is a transport unit for transporting an article, and the determination unit is configured to detect a detection result of the detection unit and a storage content of the storage unit. On the basis of this, the position of the location where the conveying means arrives and the article to be conveyed is carried out or the article which has been conveyed is to be carried in is determined.

  According to this configuration, when an article is carried into or out of a desired location by a transport means in a location management area having a plurality of locations, the location can be accurately identified with the position between adjacent locations. The position can be determined. That is, it is possible to confirm that the article to be conveyed has been carried out or carried in at a desired location accurately by the conveying means.

  According to a third feature of the location determination apparatus of the present invention, the moving body is a vehicle, and the determination unit reaches the vehicle based on a detection result of the detection unit and a storage content of the storage unit. It is to determine the position of the location to enter.

  According to this configuration, when a vehicle is to enter a desired location in a location management area having a plurality of locations, it is possible to determine the location of the location with an accuracy capable of specifying the positions of adjacent locations. That is, it can be confirmed that the vehicle has entered accurately at a desired location.

  According to a fourth feature of the location determination apparatus of the present invention, the detection means detects the presence / absence of an article at a plurality of locations, and the determination means detects the presence / absence of an article at the plurality of locations detected by the detection means. The location position is determined based on the detection pattern.

  According to this configuration, the presence / absence of articles at a plurality of locations can be detected, and the detection patterns can be collated with the contents stored in the storage means, so that the location of the location can be determined more accurately.

  A fifth feature of the location determination apparatus of the present invention is that the detection pattern includes a combination pattern of the presence / absence of an article and the distance to the detected article on each of the left and right front sides of the moving body. .

  According to this configuration, a pattern of a combination of the presence / absence of an article and a distance to the detected article at each of the left and right front positions with respect to the target target location is detected, and the detected pattern is collated with the contents stored in the storage unit. This makes it possible to determine the position of the location more accurately.

  A sixth feature of the location determination apparatus of the present invention is further provided with a position measurement unit that measures the position of the moving body, and the determination unit attempts to reach based on the measurement result of the position measurement unit. It is to determine the position of the location.

  According to this configuration, it is possible to quickly determine whether or not the moving object is located near the target location by using the measurement result of the position measuring means, and the final position determination Can be done more easily and quickly. Further, since the location of the arrival target is determined based on the measurement result of the position measurement unit in addition to the detection result of the detection unit and the content stored in the storage unit, the position of the location can be determined more accurately. .

  According to a seventh feature of the location determination apparatus of the present invention, the position measuring means has a range larger than a range occupied by one location based on a radio signal received from the mobile body via a radio communication device. It is to measure the position.

  According to this configuration, it is possible to quickly measure whether or not the moving object is located near the target location by wireless communication, and it is possible to more easily and quickly determine the final location. . In addition to the detection result of the detection means and the storage contents of the storage means, the location of the destination target is determined by wireless communication, so that the location of the location can be determined more accurately.

  An eighth feature of the location determination apparatus of the present invention is that the detection means is a radar that detects the presence or absence of an article in the arranged direction.

  According to this configuration, it is possible to easily and accurately detect the presence / absence of articles at locations around the moving body with a simple configuration in which a radar is attached to the moving body.

  A ninth feature of the location determination apparatus of the present invention is that the detection means is a scanning radar that detects the presence or absence of an article based on a scanning result obtained by scanning the surroundings with a radar.

  According to this configuration, since the presence of an article is detected by scanning the surroundings with a radar, the presence or absence of an article can be detected over a wide area.

  A tenth feature of the location determination apparatus of the present invention is that the determination unit determines a location based on detection results in a plurality of directions selected from a scanning range scanned by the scanning radar.

  According to this configuration, it is possible to detect the presence / absence of articles in surrounding locations efficiently without waste by selecting a signal necessary for location determination.

  An eleventh feature of the location determination apparatus of the present invention is further provided with a position measurement unit that measures the position of the moving body, and the transfer unit detects whether or not the transfer unit carries an article to be transferred. The determination means is to determine a position of a location to be reached based on a measurement result of the position measurement means when a signal is detected by the presence sensor. .

  According to this configuration, it is possible to more accurately determine the location of the location by using the measurement result obtained by the position measuring unit. The arrival sensor can detect the timing when the conveying means arrives and carries out or carries the article to be conveyed, and based on the measurement result of the position measuring means at an appropriate timing when the conveying means reaches the location. The location can be determined and confirmed.

  A twelfth feature of the location determination apparatus of the present invention is that the location management area is a warehouse having a plurality of locations as flat place numbers on which articles are placed flat.

  According to this configuration, it is possible to determine the position of the flat place number with an accuracy capable of specifying the positions of the adjacent flat place numbers in the warehouse where the article is placed flat.

  A thirteenth feature of the location determination apparatus according to the present invention is that the article is a vehicle, and the location management area is a parking lot having a plurality of locations as parking spaces.

  According to this configuration, when a vehicle is parked in a desired parking space in the parking lot, it is possible to determine the position of the parking space with an accuracy capable of specifying the positions of adjacent parking spaces.

  A fourteenth feature of the location determination apparatus of the present invention is to notify the operator of a location mismatch when the location determined by the determination means does not match the location to be reached. It is further provided with an informing means.

  According to this configuration, when the moving body reaches a location different from the target location, it is possible to promptly notify the operator by the notifying means.

  According to a fifteenth feature of the location determination apparatus of the present invention, when the position of the location determined by the determination unit matches the location to be reached, the storage content of the storage unit is reached. It is further provided with storage update means for updating in accordance with a later state.

  According to this configuration, when the moving body reaches the destination target location, it can be quickly updated to the stored content corresponding to the state after the arrival.

  A location management system of the present invention for achieving the above-described object is a location management system including the above-described location determination device of the present invention, comprising a control device mounted on the mobile body and a wireless communication device. A location management device communicable with the control device, the detection means is provided in the control device, and the storage means and the determination means are provided in the location management device. .

  According to this configuration, in the location management device that includes the control device mounted on the mobile body and the location management device that can communicate with the mobile body controller, the location determination device according to the present invention can be configured adjacent to each other. It is possible to determine the location of the location with an accuracy capable of specifying the location between the locations.

  Further, the location determination method of the present invention for achieving the above-mentioned object is a location determination method for determining a location of a location by a location determination device in a location management area including a plurality of locations to be classified, In the location determination device, a storage step for storing the presence / absence of articles at each location in the location management area, and a detection sensor provided on the moving body for detecting the presence / absence of surrounding articles in the location determination device Based on the detection signal, based on the detection step of detecting the presence / absence of an article at locations around the moving body, and the location determination device, based on the detection result in the detection step and the stored content stored in the storage step The location of the location that the mobile is about to reach Characterized in that it and a determination step of determining.

  Further, a program of the present invention for achieving the above object is used for location determination in which location determination is performed by a location determination device in a location management region having a plurality of locations to be classified, and the location management region A storage step for storing the presence / absence of an article at each location in the location, and a location around the mobile body based on a detection signal from a detection sensor provided in the mobile body for detecting the presence / absence of a surrounding article. A detection step of detecting the presence or absence of an article at a location of the vehicle, and a determination step of determining a position of the location where the mobile body is to reach based on the detection result in the detection step and the stored content stored in the storage step Are executed.

  According to the location determination method and the program of the present invention, it is possible to detect the presence or absence of an article at a location around the moving body by the detection means. Then, based on the detection result and the stored content about the presence / absence of the article at each location stored in the storage means, that is, by comparing the detection result with the stored content, the location where the mobile body is to reach Can be determined. This makes it possible to specify the location of the target location for each location. In other words, it is possible to determine the position of the location with an accuracy capable of specifying the positions of adjacent locations.

  The program according to the present invention is recorded on a removable recording medium such as a CD-ROM (Compact Disk Read Only Memory), FD (Flexible Disk), or MO (Magneto-Optic), or a fixed recording medium such as a hard disk. Besides being distributable, it can also be distributed via a communication network such as the Internet by wired or wireless telecommunication means.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings. Note that the location determination apparatus, the location management system, the location determination method, and the program according to the embodiment of the present invention can be widely applied in the location determination of a location in a location management area having a plurality of locations to be classified.

(First embodiment)
FIG. 1 is a plan view illustrating a warehouse 1 that is a location management area to which a location determination apparatus, a location determination method, and a location management system according to a first embodiment are applied. The warehouse 1 is provided with a plurality of locations L as flat place numbers on which loads W (articles) conveyed along with the pallets as shown in FIG. In the warehouse 1, the load W is transported to each location L by a forklift 2, which is a transport means (moving body), and is loaded (received). At the time of delivery, the load W to be transported is transported from the predetermined location L by the forklift 2 and transported as it is. In addition, a plurality of wireless communication devices (fixed stations) 3 are arranged in the warehouse 1, and wireless communication can be performed between the management computer and the in-vehicle controller mounted on the forklift 2 via the wireless communication device 3. It is like that.

  FIG. 3 is a schematic diagram showing the location management system according to the first embodiment. This location management system includes a control device 10 mounted on the forklift 2 and a management computer 11 for performing storage management in the warehouse 1.

  The control device 10 includes an in-vehicle controller 12, a wireless communication device (mobile station) 13, a radar 14, and a stock sensor 15. The in-vehicle controller 12 can wirelessly communicate with the management computer 11 via the plurality of wireless communication devices 3 by the wireless communication device 13. The in-vehicle controller 12 is connected to the radar 14, and performs input / output processing of signals from the radar 14 and the like according to instructions from the management computer 11.

  The radar 14 constitutes detection means (detection sensor) that is provided on the forklift 2 and detects the presence or absence of the load W at the location L around the forklift 2. The radar 14 is a scanning radar, and can detect the presence or absence of a load W based on a scanning result obtained by scanning the periphery of the forklift 2 with the radar 14. The radar 14 executes the detection step of the location determination method according to the present embodiment. The radar 14 is attached to a relatively lower position such that the fork 18 provided so as to be movable up and down on the mast 17 of the forklift 2 transports the load W so as to be below the fork 18 and the load W. . Accordingly, the load W at the surrounding location L can be detected without being blocked by the fork 18 and the load W.

  The in-vehicle controller 12 is connected to a battery 16 and a stock sensor 15 provided in the forklift 2. Power for the in-vehicle controller 12 is supplied from the battery 16. In addition, the load sensor 15 is a sensor that detects the load W when the load W is placed on the fork 18 that can be moved up and down on the mast 17 of the forklift 2, and the forklift 2 detects the load W to be transported. Whether or not it is mounted can be detected by the stock sensor 15.

  The management computer 11 includes a wireless communication device 19. The wireless communication device 19 can communicate with the in-vehicle controller 10 via the plurality of wireless communication devices 3. The management computer 11 includes a CPU (Central Processing Unit), a memory (ROM (Read Only Memory), a RAM (Random Access Memory)), and the like. The memory stores various software used for operating the management computer 11 and various software including a program for causing the location management system of the present embodiment to execute each step of the location determination method according to the present embodiment. ing. The memory also stores various data that are input, set, and calculated when the location determination method is performed.

  By combining the hardware and software described above, each unit (20 to 27) shown in the functional block diagram of FIG. 4 is built in the management computer 11, and each step of the location determination method according to the present embodiment is executed. Is done.

  FIG. 4 illustrates a functional block diagram illustrating the configuration of the management computer 11. The management computer 11 includes an inventory management unit 20 that performs inventory management in the warehouse 1 (management of loaded and unloaded goods W) and a location management unit 21 that performs position determination of each location L in the warehouse 1. .

  Note that the management computer 11 includes a location management unit 21 to constitute a location management device in the location management system according to the present embodiment. Further, the control device 10 including the radar 14 and the management computer 11 constitute a location determination device according to the present embodiment.

  The location management unit 21 includes a pattern identification unit 22, a storage update unit (storage update unit) 23, a pattern determination unit (determination unit) 24, a storage unit (storage unit) 25, a two-dimensional coordinate identification unit (position measurement unit) 26, An informing unit (informing means) 27 is provided. The storage step and the determination step of the location management method according to the present embodiment are executed by the operations of the storage unit 25 and the pattern determination unit 24, respectively.

  The storage unit 25 stores the presence / absence of a load W at each location L in the warehouse 1. FIG. 5 is a schematic diagram showing a part of the arrangement configuration of the location L in the warehouse 1. Each location L is arranged in a lattice shape, and each location L is specified by a location number formed by a combination of a serial number (serial number) and a column direction number (column number). For example, the location number of the dark shaded location L in FIG. 5 is “2-2”. In the storage unit 25, as shown in FIG. 6A, the presence / absence of the load W (whether the pallet is placed) is stored for each location number (that is, a pallet arrangement map at the present time is stored). ing). Note that the storage unit 25 also stores the two-dimensional coordinates (X coordinate and Y coordinate) of each location L when the position in the warehouse 1 is specified by two-dimensional coordinates, as shown in FIG. 6B. (In other words, warehouse map data is also stored).

  The pattern identification unit 22 identifies the detection pattern based on the detection signal (article presence / absence detection signal) of the load W detected by the radar 14 and transmitted by wireless communication via the in-vehicle controller 12. The radar 14 detects the presence / absence of a load W at a plurality of locations L, and the pattern identification unit 22 specifies a detection pattern by a combination of the detection signals. That is, the detection pattern is specified by detection results in a plurality of directions selected from the scanning range scanned by the radar 14.

  FIG. 7 is a diagram for explaining a detection pattern of a plurality of loads W during a warehousing operation, and is a plan view (FIG. 7 (a)) and a side view showing the forklift 2 and a plurality of loads W around it. FIG. 7B). FIG. 7 shows a case where the forklift 2 is transporting the load W1 and trying to store the load W1 at the location of the location L1, and the scanning range (radar detection area) by the radar 14 is shaded. ing.

  When the forklift 2 approaches the location L1 and reaches the position P1, the radar 14 detects that the load W1 on the fork has reached the location L1. That is, when the distance Xc to the front load W detected by the radar 14 reaches a distance set in advance according to the size of the location L (a distance corresponding to one location before), on the fork It is detected that the load W1 has reached the location L1. When it is detected that the forklift 2 has approached the front load W, the radar 14 detects the presence / absence of the load W and the distance to the detected load W at each of the forklifts 2 diagonally forward and leftward. The Therefore, when the forklift 2 is located at P1, the radar 14 detects the distance Xl to the left diagonally forward load W and the distance Xr to the diagonally forward right load W. Note that the vehicle-mounted controller 12 of the control device 10 selects the presence / absence of the load W in the radar scanning range and the diagonally forward and left directions from which the distance (Xl, Xr) to the load W is detected. Even if it exists, either may be selected by the pattern identification unit 22 of the management computer 11.

  FIG. 8 is a diagram for explaining a detection pattern of a plurality of loads W at the time of unloading work, and is a plan view (FIG. 8A) and a side view showing the forklift 2 and a plurality of loads W around it. It is a figure (FIG.8 (b)). FIG. 8 shows a case where the forklift 2 is about to unload the cargo W2 to be unloaded from the location L2. As in FIG. 7, the scanning range (radar detection area) by the radar 14 is shaded. In addition, in FIG. 8, the case where the load W loaded on the upper stage of two-stage stacking is the load W2 to be delivered is illustrated.

  When the forklift 2 approaches the location L2 and reaches the position P2, the radar 14 detects that the forklift 2 has reached the position just before one location, as in the case of FIG. When it is detected that the forklift 2 has approached the load W in front, the presence or absence of the load W in the diagonally forward direction of the forklift 2 at that time and the load W are detected by the radar 14 as in the case of the warehousing operation. Distances (Xl, Xr) are detected.

  When the presence or absence of the surrounding load W and its distance are detected by the radar 14 at the time of entering or leaving, the pattern identifying unit 22 identifies the detection pattern from this detection result. This detection pattern is specified by classifying the detection result of the presence / absence of the load W diagonally forward and left and the detection distance (Xl, Xr) to the detected load W. When classifying, for example, based on the detection results in the right front and left front directions with respect to the reference position, the class “side” in the case where there is a load W on the side of the reference position in each of the left and right directions. Class with workpiece: N ”, class when load W is diagonally ahead of reference position“ with diagonally forward workpiece: M ”, class without diagonally forward workpiece: F when there is no workpiece diagonally forward of reference position Can be classified. The reference position is, for example, the position at which the load W on the fork has arrived at the time of warehousing, and the virtual load W has arrived when it is assumed that there is a virtual load W on the fork at the time of warehousing. It can be the location of a different location. The three classifications can be classified by comparing the detection distances Xl and Xr with a predetermined threshold value. Since Xl and Xr are each classified into three classes, nine patterns are assumed as combinations. In the case of FIG. 7, the detection pattern is identified as (X1, Xr) = (N, M), and in the case of FIG. 8, the detection pattern is (X1, Xr) = (M, F).

  The two-dimensional coordinate identification unit 26 constitutes a position measuring unit that measures the position of the forklift 2, and based on a wireless signal received from the control device 10 of the forklift 2 via the wireless communication device 13, The position is measured as a two-dimensional coordinate in the warehouse 1. As the position measurement method, for example, a method that uses a difference in radio wave intensity of radio signals transmitted from the forklift 2 and received by the plurality of radio communication devices 3 can be used. That is, depending on the position where the forklift 2 is located, the radio signal strength of the radio signal received by each radio communication device 3 is different, so depending on the combination of the radio signal strength of the radio signal received by each radio communication device 3 Measurement for specifying the two-dimensional coordinates of the forklift 2 can be performed. Each signal regarding the radio field intensity of the radio signal from the forklift 2 received by each wireless communication device 3 is received by the management computer 11, and the two-dimensional coordinates of the forklift 2 are measured by the two-dimensional coordinate identification unit 26. become. Whether or not the forklift 2 is located in the vicinity of the target location L, even if the position is measured in the two-dimensional coordinate identification unit 26 in a range larger than the range occupied by one location L. Can be measured quickly, and the final location position can be determined more easily and quickly.

  The pattern determination unit 24 arrives at the location L (L2 in the case of FIG. 8 or L1 in the case of FIG. 7) where the forklift 2 arrives and carries the load W to be carried or carries the load W that has been carried. ) Is determined. At this time, the pattern determination unit 24 determines the position of the location L based on the detection pattern based on the detection result of the radar 14 and the stored content stored in the storage unit 25 (current pallet arrangement map shown in FIG. 6A). Make a decision.

  Specifically, for example, in the pattern determination unit 24, first, the presence / absence of the load W at the location around the target location L, that is, the load W at the left and right sides and the diagonally forward locations relative to the reference position described above. Presence / absence is obtained from the current pallet arrangement map stored in the storage unit 25, and an expected detection pattern is created. Then, the location of the location can be determined by comparing the detection pattern created by the pattern identification unit 22 with the predicted detection pattern based on the detection result of the radar 14. If the two patterns are compared and matched, it can be determined that the destination location L has been reached, and if they do not match, it can be determined that the wrong location L has been reached. Note that the location position determination based on the detection result of the radar 14 and the stored contents of the storage unit 25 is performed using the time when the distance Xc from the front load W becomes a predetermined value as a reference timing.

  Further, the pattern determination unit 24 determines the position of the location L to be reached based on the measurement result obtained by the two-dimensional coordinate identification unit 26. The two-dimensional coordinate identification unit 26 identifies the two-dimensional coordinates of the wireless communication device 13 mounted on the forklift 2. For this reason, two-dimensional coordinates at a position deviated from the two-dimensional coordinates by a predetermined distance X1 are calculated (see FIG. 9), and the two-dimensional coordinates are obtained from the on-site map data stored in the storage unit 25. It can be compared with the two-dimensional coordinates of the location L. As the value of the predetermined distance X1, for example, the value of the distance between the position of the wireless communication device 13 and the center position of the fork 18 (the center position of the load W when the load W is placed on the fork 18) is used. Can be used.

  As a method of using the two-dimensional coordinates in the location position determination, for example, the two-dimensional coordinates of the center position of the fork 18 calculated based on the measurement result in the two-dimensional coordinate identification unit 26 and the two-dimensional of the destination location L By comparing the coordinates with each other, if the shift amount between the two coordinates corresponding to the shift distance is equal to or less than a predetermined threshold value, it can be determined that the location L is reached. Further, if the shift amount between the two coordinates exceeds a predetermined threshold, it can be determined that the wrong location L has been reached. The location position determination based on the measurement result in the two-dimensional coordinate identification unit 26 is performed at the time when a signal is detected by the in-stock sensor 15 (timing at which completion of the cargo handling is detected by the cargo handling line 5). Thereby, the location position determination based on the measurement result in the two-dimensional coordinate identification unit 26 can be performed at an appropriate timing when the forklift 2 reaches the location L and carries or loads the load W to be transported. In the pattern determination unit 24, the location position determination based on the detection pattern of the presence / absence of the load W and the location position determination based on the measurement result in the two-dimensional coordinate identification unit 26 are sequentially performed. For this reason, more accurate location position determination that reflects the results of both position determinations is possible, and position determination accuracy can be improved.

  The notification unit 27 notifies the operator who is driving the forklift 2 when the position of the location L determined by the pattern determination unit 24 does not match the position of the location L that the forklift 2 is to reach. On the other hand, the mismatch of the location L is notified. That is, when the pattern determination unit 24 determines that the position of the location L does not match, the notification unit 27 wirelessly sends a notification command to notify the operator that the position of the location L does not match. The data is transmitted to the control device 10 via the communication device 3. The control device 10 includes various means (not shown) such as a buzzer, a siren, and a patrol light, and operates these means such as a buzzer in accordance with a notification command received from the notification unit 27.

  When the position of the location L determined by the pattern determination unit 24 matches the position of the location L that the forklift 2 is about to reach, the storage update unit 23 changes the storage content of the storage unit 25 to that of the forklift 2. Update according to the state after arrival. That is, the contents of the current pallet arrangement map stored in the storage unit 25 are updated.

  Next, processing (processing for executing each step of the location determination method according to the present embodiment) in the location determination apparatus according to the present embodiment described above will be described with reference to the flowchart shown in FIG. FIG. 10 shows an example of a processing flow in the location determination apparatus.

  First, when a warehousing or unloading operation occurs, an operator who has boarded the forklift 2 drives and moves the forklift 2 to the target location L that is instructed from the management computer 11 to the control device 10 by wireless communication. When the forklift 2 is brought closer to the location L that the operator recognizes as the arrival target, the presence of the load W ahead is detected by the radar 14. First, in step 101 (hereinafter referred to as “S101”, the same applies to other steps), whether the detected radar forward distance Xc is equal to or less than a predetermined value Lp corresponding to the distance one location before. It is determined whether or not.

  The processing in step 101 is continued until the radar forward distance Xc becomes equal to or less than the predetermined value Lp (S101, No). When the distance Xc becomes equal to or less than Lp (S101, Yes), the radar 14 causes the right diagonal forward distance Xl and the diagonal left A forward distance Xr is detected (S102). That is, this timing at which the distance Xc is equal to or less than Lp is a reference timing for determining the location position based on the detection result in the radar 14 and the stored contents in the storage unit 25. Then, the detection result of the radar 14 is transmitted to the management computer 11, and the pattern identification unit 22 makes the classification into any one of the above three classifications (N, M, F) corresponding to the left and right diagonal forward distances Xl, Xr. Classification is performed, and a detection pattern is created (S103).

  Then, in step 104, the pattern determination unit 24 generates an expected detection pattern indicating the arrangement state of the load W at locations around the designated location L that is the arrival target, based on the current pallet arrangement map stored in the storage unit 25. Creation processing is performed. FIG. 11 shows an example of a flow of processing for creating the prediction detection pattern.

  In the process of FIG. 11, first, the location number of each location L located on the right side, left side, diagonally right front, and diagonally left front of the indicated location L is obtained (S201). Based on each location number, information on the presence or absence of the load W at each location L is obtained from the current pallet arrangement map (S202). When the presence / absence of the load W around the designated location L is obtained in step 202, based on the information, detection patterns on the right and left sides of the designated location L (N, M, F on the left and right sides respectively) are obtained in step 203 and subsequent steps. Classification).

  First, in step 203, it is determined whether or not a load W exists at the location L on the right side. If it is determined that there is a load W on the right side (S203, Yes), the detection pattern on the right side is identified as “N” (S204). On the other hand, when it is determined that there is no load W at the right-side location L (S203, No), it is determined whether or not the load W exists at the location L diagonally forward right (S205). Here, when it is determined that there is a load W at the location L diagonally forward (S205, Yes), the detection pattern on the right side is identified as “M” (S206). If it is determined in step 205 that there is no load W in the location L diagonally forward (S205, No), the detection pattern on the right side is identified as “F” (S207).

  If the right detection pattern is specified (S204, S206, S207), then the left detection pattern is specified. First, at step 208, it is determined whether or not a load W exists at the location L on the left side. When it is determined that there is a load W on the left side (S208, Yes), the detection pattern on the left side is identified as “N” (S209). On the other hand, if it is determined that there is no load W at the location L on the left side (S208, No), it is determined whether there is a load W at the location L diagonally forward left (S210). Here, when it is determined that there is a load W at the location L diagonally forward (S210, Yes), the left detection pattern is identified as “M” (S211). If it is determined in step 210 that there is no load W at the location L diagonally forward (S210, No), the left detection pattern is identified as “F” (S212).

  The detection pattern on the left side is also specified (S209, S211, S212), and when the creation of the predicted detection pattern is completed and the process of FIG. 11 is completed, the process returns to the process of FIG. That is, when the predicted detection pattern creation process in step 104 is completed, the radar detection pattern and the predicted detection pattern are then compared in step 105 to determine whether or not the two patterns match.

  When it is determined that the radar detection pattern and the predicted detection pattern do not match (S105, No), a warning that the two patterns do not match and the cargo handling position is incorrect is notified by the notification unit 27 via wireless communication. The worker is notified and an instruction is given to redo the cargo handling (in / out) operation (S112).

  If it is determined that the radar detection pattern matches the predicted detection pattern (S105, Yes), whether or not the cargo handling is completed, that is, whether or not there is a change in signal from the occupancy sensor 15 (change in detection state). Is determined (S106). The determination in step 106 is repeated until the cargo handling is completed. If it is determined that the cargo handling is completed (S106, Yes), then the position coordinates of the wireless communication device 13 mounted on the forklift 2 are measured by the two-dimensional coordinate identification unit 26. (S107). That is, the location position determination based on the measurement result in the two-dimensional coordinate identification unit 26 is performed at the cargo handling completion timing.

  When the position coordinates of the wireless communication device 13 of the forklift 2 are obtained (S107), the pattern determination unit 24 uses the position coordinates to determine the cargo handling position that is the center position of the load W on the fork 18 of the forklift 2. The coordinates (X, Y) are obtained (S108). First, the amount of deviation between the X coordinate (X) of the determined cargo handling position and the X coordinate (X0) of the target target location L (that is, the absolute value | X−X0 | of (X−X0)) is a threshold value. It is determined whether or not it is equal to or less than Wp (S109). The value of the threshold Wp is a value determined from the magnitude of the measurement error due to the position measurement accuracy of the two-dimensional coordinate identification unit 26. For example, the value of the length of one location in the X coordinate axis direction can be used. If the value of the deviation amount | X−X0 | of the two-dimensional coordinates exceeds the threshold value Wp (S109, No), the warning of the cargo handling position error is notified to the worker by the notification unit 27 via wireless communication. (S112).

  On the other hand, if the value of the deviation amount | X−X0 | of the two-dimensional coordinates in the X coordinate axis direction is equal to or less than the threshold value Wp (S109, Yes), then, It is determined whether or not the amount of deviation from the Y coordinate (Y0) (that is, the absolute value | Y−Y0 | of (Y−Y0)) is less than or equal to the threshold Wp (S110). If the value of the deviation amount | Y−Y0 | of the two-dimensional coordinates in the Y coordinate axis direction exceeds the threshold value Wp (S110, No), the notification unit 27 warns the operator of the cargo handling position via wireless communication. (S112).

  In step 110, if the value of the deviation amount | Y−Y0 | of the two-dimensional coordinates is equal to or smaller than the threshold value Wp (S110, Yes), the pattern determination unit 24 determines that the location L of the cargo handling position is the destination target location L. It will be finally determined that they match. As described above, the location position determination based on the detection pattern of the presence / absence of the load W and the location position determination based on the measurement result of the two-dimensional coordinate identification unit 26 are sequentially performed, and more accurate reflecting the results of both position determinations. Location location determination is performed. Then, the current pallet arrangement map, which is the storage content of the storage unit 25, is updated by the storage update unit 23 in correspondence with the state after the completion of cargo handling (S111).

  When the update processing (S111) of the stored contents relating to the current pallet arrangement map and the warning notification processing (S112) of the cargo handling position error are completed, the location determination processing ends, and the processing shown in FIG. 10 ends. If the cargo handling operation continues, the process shown in FIG. 10 is started again.

  As described above, according to the location determination apparatus, location management system, location determination method, and program according to the first embodiment, the radar 14 can detect the presence or absence of the load W at the location L around the forklift 2. Then, based on the detection result and the stored content about the presence / absence of the load W at each location L stored in the storage unit 25, that is, by comparing the detected result with the stored content, the forklift 2 will reach. The location L can be determined. As a result, it is possible to specify the position of the target location L in each location unit. In other words, it is possible to determine the location of the location L with an accuracy capable of specifying the locations of the adjacent locations L. Then, it is possible to confirm that the load W to be transported has been accurately carried out at the desired location L.

(Second Embodiment)
In the first embodiment, the case where the article is applied to a warehouse having a plurality of locations as a flat place number where the article is placed flat is described. However, the location management area is divided in the rack and the article is arranged. The present invention can also be applied to a warehouse having a plurality of locations as shelves to be stored.

  FIG. 12 is a schematic diagram illustrating a part of a warehouse 30 that is a location management area to which the location determination device, the location determination method, and the location management system according to the second embodiment are applied. Similar to the warehouse 1 according to the first embodiment, the warehouse 30 is configured as a warehouse in which a rack 31 including a plurality of locations (shelf) La in which loads (articles) Wa to be transported together with the pallets are stored. ing. A plurality of racks 31 are arranged (there may be one), and a load Wa is carried into each location La in each rack 31 by a forklift (moving body, conveying means) (not shown) similar to the case of the first embodiment. Or taken out.

  The location management system according to the second embodiment includes a control device (not shown) mounted on a forklift (not shown) and a location management device (not shown) that can communicate with the control device via a wireless communication device. ing.

  The control device is configured in the same manner as in the first embodiment, and includes a radar (not shown) that constitutes detection means for detecting the presence or absence of the load Wa at the location La around the forklift. A plurality of radars are provided, and the presence / absence of the load Wa at a plurality of locations La is detected by detecting the presence / absence of the load Wa in the direction in which each radar is arranged. For example, the plurality of radars are attached to the front end of the fork of the forklift, and are arranged so as to detect the presence or absence of the load Wa at the front location La and the surrounding location La where the forks face each other. For example, the radar may be arranged so as to select various combinations of detection patterns such as detecting the front side of the carriage 31 and the nine locations La on the upper and lower sides, the upper and lower sides thereof, and the lower and right and left sides. it can.

  The location management apparatus includes a storage unit (storage unit), a pattern determination unit (determination unit), a pattern identification unit, a storage update unit, a notification unit, and the like, similar to the management computer 11 of the location management system according to the first embodiment. I have. The storage unit stores the presence / absence of the load Wa at each location La in the warehouse 30, and the pattern determination unit determines the position of the location La that the forklift is to reach based on the detection result in the radar and the storage content in the storage unit. Determine. In addition, the location determination apparatus according to the second embodiment is constructed in the location management system, and, as in the case of the first embodiment, the location determination apparatus operates to relate to the second embodiment. A location determination method will be implemented.

  According to the location determination apparatus, the location determination method, and the location management system according to the second embodiment, the presence or absence of the load Wa at the location La around the forklift can be detected by the radar as in the case of the first embodiment. And based on this detection result and the storage content about the presence or absence of the load Wa in each location La memorize | stored in the memory | storage part, ie, collating a detection result and a memory content, a forklift will try to reach | attain The position of the location La can be determined. This makes it possible to specify the position of the target location La for each location. That is, the location determination of the location La can be performed with an accuracy capable of specifying the positions of the adjacent locations La. Then, it is possible to confirm that the load Wa to be transported has been correctly carried out or carried in at the desired location La.

(Third embodiment)
Although the case where the location management area is a warehouse has been described in the first and second embodiments, the location management area is a parking lot that includes a plurality of locations that are classified as parking spaces where vehicles as articles are parked. Even in this case, the present invention can be applied.

  FIG. 13 is a plan view showing a parking lot 40 that is a location management area to which the location determination device, the location determination method, and the location management system according to the third embodiment are applied. In the parking lot 40, a vehicle Wb that is a moving body and also an article arrives at each location Lb that is a parking space, enters, and is parked.

  The location management system according to the third embodiment includes a control device (not shown) mounted on the vehicle Wb moving in the parking lot 40 and a location management device (communication with the control device via a wireless communication device). (Not shown). The control device includes a radio communication device and a radar, and is attached, for example, by adsorbing it on a hood in front of each vehicle Wb with a magnet at the entrance of the parking lot 40.

  The radar of this control device constitutes detection means for detecting the presence or absence of a vehicle Wb already parked at locations Lb around the vehicle Wb about to enter the predetermined location Lb. As this radar, for example, the scanning radar in the first embodiment can be used. Further, as in the second embodiment, a plurality of radars that respectively detect the presence or absence of the parked vehicle Wb in the arranged direction may be used.

  Similar to the management computer 11 in the first embodiment, the location management device includes a storage unit (storage unit), a pattern determination unit (determination unit), a pattern identification unit, a storage update unit, a notification unit, and the like. The storage unit stores the presence / absence of the vehicle Wb at each location Lb in the parking lot 40, and the pattern determination unit receives the moving vehicle Wb based on the detection result in the radar and the storage content in the storage unit. The location Lb to be entered is determined. In addition, the location determination apparatus according to the third embodiment is constructed in the location management system, and, as in the case of the first embodiment, the location determination apparatus operates, so that the location determination apparatus according to the third embodiment is performed. A location determination method will be implemented.

  According to the location determination device, the location determination method, and the location management system according to the third embodiment, as in the first embodiment, the presence / absence of the parked vehicle Wb at the location Lb around the vehicle Wb moving with the radar is determined. It can be detected. And based on this detection result and the memory content about the presence or absence of the parked vehicle Wb in each location Lb memorize | stored in the memory | storage part, ie, collating a detection result and memory content, vehicle Wb in movement The position of the location Lb that is about to reach and enter can be determined. This makes it possible to specify the position of the target location Lb for each location. That is, it is possible to determine the location of the location Lb with an accuracy capable of specifying the locations of the adjacent locations Lb. Then, it can be confirmed that the vehicle Wb has entered accurately at the desired location Lb.

  The first to third embodiments of the present invention have been described above. However, the present invention is not limited to the above-described embodiments, and various modifications can be made as long as they are described in the claims. . For example, the following modifications may be made.

(1) The detecting means may be other than the radar as long as it is provided on the moving body and detects the presence / absence of an article at locations around the moving body. In the first embodiment, the radar is not limited to the scanning type, and may include a plurality of radars that respectively detect the presence or absence of an article in the arranged direction. In the second embodiment, a scanning radar may be used.

(2) In the first embodiment, when the radar as the detection means is attached to the forklift, it is not limited to one in which one scanning radar is arranged on the centerline of the forklift. For example, in the case of a reach-type forklift, scanning radars may be attached to the left and right reach legs, respectively. This makes it easier to secure the left and right radar scanning ranges.

(3) In the first embodiment, a case has been described in which detection patterns are identified by classifying detection results in the left and right oblique fronts in the radar scanning range into three classes, but a radar scanning signal (scanning signal) May be used as they are, and a method using a one-dimensional pattern recognition process with a preset reference pattern may be used.

(4) The position measuring means for measuring the position of the moving body may be other than that by wireless communication. For example, a device using a position detection device using dead reckoning navigation with a gyro and a distance meter may be used.

(5) The location determination device is a location management system including a control device mounted on a mobile body and a location management device that can communicate with the control device via a wireless communication device, as exemplified in the present embodiment. It does not have to be provided.

(6) The processing flow shown in FIG. 10 and FIG. 11 is merely an example, and as long as each step according to the present embodiment can be executed, the order and combination of the processes, and the determination in each process The logic or the like can be changed as appropriate.

It is the top view which illustrated the warehouse which is a location management field where the location judging device, location judging method, and location management system concerning a 1st embodiment of the present invention are applied. It is a perspective view which shows a mode that the load conveyed with a pallet is mounted in the flat placing lot number which is a location. It is a mimetic diagram showing the location management system concerning a 1st embodiment. FIG. 4 is a functional block diagram illustrating a configuration of a management computer in the management system illustrated in FIG. 3. It is the schematic diagram which showed a part of arrangement configuration of the location in the warehouse shown in FIG. It is a figure explaining the memory | storage content memorize | stored in the memory | storage part in the management computer shown in FIG. It is a figure explaining the detection pattern of the some load in the case of warehousing operation | work, Comprising: It is the top view and side view which show a forklift and the some load of the circumference | surroundings. It is a figure explaining the detection pattern of the some load in the case of a leaving work, Comprising: It is the top view and side view which show a forklift and the some surrounding load. FIG. 5 is a diagram for describing processing for calculating a two-dimensional coordinate of a center position of a fork from a two-dimensional coordinate of a forklift wireless communication device in a pattern determination unit of the management computer shown in FIG. 4. It is the flowchart which illustrated the process sequence in the location determination apparatus which concerns on 1st Embodiment. It is the flowchart which illustrated the procedure of the creation process of the prediction detection pattern in FIG. It is the schematic which illustrated the warehouse which is a location management area | region where the location determination apparatus, location determination method, and location management system which concern on 2nd Embodiment of this invention are applied. It is the top view which illustrated the parking lot which is a location management area where the location judging device, location judging method, and location management system concerning a 3rd embodiment of the present invention are applied.

Explanation of symbols

1 Warehouse (location management area)
2 Forklift (moving body, transport means)
10 control device 11 management computer 14 radar (detection means)
21 Location management unit 24 Pattern determination unit (determination means)
25 Storage unit (storage means)
L Location W Load (goods)

Claims (18)

A location determination device that performs location determination of a location in a location management area having a plurality of locations to be classified,
A detecting means provided on the moving body for detecting the presence or absence of an article at a location around the moving body;
Storage means for storing presence or absence of articles at each location in the location management area;
A determination unit that determines a position of a location to which the moving body is to reach based on a detection result of the detection unit and a storage content of the storage unit;
A location determination apparatus comprising: The moving body is a conveying means for conveying an article,
Based on the detection result of the detection unit and the storage content of the storage unit, the determination unit is configured to determine the location of the location where the transport unit has arrived and the article to be transported has been unloaded or transported. The location determination apparatus according to claim 1, wherein the location is determined. The moving body is a vehicle,
2. The determination unit according to claim 1, wherein the determination unit determines a position of a location where the vehicle is to reach and enter based on a detection result of the detection unit and contents stored in the storage unit. Location judging device. The detection means detects the presence or absence of articles at a plurality of locations,
4. The position determination unit according to claim 1, wherein the determination unit determines a position of the location based on a detection pattern of presence / absence of an article at the plurality of locations detected by the detection unit. The described location determination device.   The location determination apparatus according to claim 4, wherein the detection pattern includes a pattern of a combination of the presence / absence of an article on each of the left and right front sides of the moving body and a distance to the detected article. It further comprises a position measuring means for measuring the position of the moving body,
The location determination according to any one of claims 1 to 5, wherein the determination unit determines a position of a location to be reached based on a measurement result of the position measurement unit. apparatus.   The position measurement means measures a position in a range larger than a range occupied by one location based on a radio signal received from the mobile body via a radio communication device. The described location determination device.   The location determination apparatus according to claim 1, wherein the detection unit is a radar that detects the presence or absence of an article in the arranged direction.   8. The scanning radar according to claim 1, wherein the detection unit is a scanning radar that detects the presence / absence of an article based on a scanning result obtained by scanning the surroundings with a radar. 9. Location judging device.   The location determination apparatus according to claim 9, wherein the determination unit determines a location based on detection results in a plurality of directions selected from a scanning range scanned by the scanning radar. It further comprises a position measuring means for measuring the position of the moving body,
The transport means includes a load sensor that detects whether or not the transport means carries an article to be transported,
The said determination means determines the position of the location which is going to reach | attain based on the measurement result in the said position measurement means, when the signal is detected by the said stock sensor. Location judging device.   The location determination apparatus according to claim 2, wherein the location management area is a warehouse having a plurality of locations as flat placement lots on which articles are placed flat.   The location determination apparatus according to claim 3, wherein the article is a vehicle, and the location management area is a parking lot having a plurality of locations as parking spaces.   The information processing apparatus according to claim 1, further comprising: a notification unit that notifies the operator of the location mismatch when the location determined by the determination unit does not match the location to be reached. The location determination apparatus of any one of Claims 1-13.   A storage update unit that updates the storage content of the storage unit according to the state after the mobile body reaches when the location of the location determined by the determination unit matches the location to be reached; The location determination apparatus according to claim 1, wherein the location determination apparatus is provided. A location management system comprising the location determination device according to any one of claims 1 to 14,
A control device mounted on the mobile body, and a location management device capable of communicating with the control device via a wireless communication device,
The detection means is provided in the control device,
The location management system, wherein the storage unit and the determination unit are provided in the location management apparatus. In a location management area comprising a plurality of locations to be classified, a location determination method for determining the location of a location with a location determination device,
In the location determination device, a storage step of storing presence / absence of articles at each location in the location management area;
In the location determination device, based on a detection signal from a detection sensor provided on the moving body for detecting the presence or absence of a surrounding article, a detection step for detecting the presence or absence of an article at a location around the moving body;
In the location determination device, based on the detection result in the detection step and the stored content stored in the storage step, a determination step of determining the location of the location where the mobile body is to reach,
A location determination method comprising: In a location management area comprising a plurality of locations to be segmented, it is used for location determination in which location determination is performed by a location determination device,
In the location determination device,
A storage step of storing presence / absence of articles at each location in the location management area;
A detection step of detecting the presence or absence of an article at a location around the mobile body based on a detection signal provided by a detection sensor provided on the mobile body and detecting the presence or absence of the surrounding article;
A determination step of determining a position of a location to which the moving body is to reach based on the detection result in the detection step and the storage content stored in the storage step;
A program characterized by having executed.

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