JP7224925B2 - Information processing device, reading device and program - Google Patents

Description

TECHNICAL FIELD Embodiments of the present invention relate to an information processing device, a reading device, and a program.

In recent years, there has been provided a reading system that reads wireless tags such as RFID (Radio Frequency Identifier) using an autonomous mobile robot (hereinafter referred to as self-propelled robot) having an antenna. Such a reading system makes a self-propelled robot pass in front of a shelf or the like on which a plurality of articles with wireless tags are stored, and reads the wireless tags.

JP 2005-320074 A

In general, the higher the radio wave output of an RFID reader, the higher the reading performance of densely stacked wireless tags. However, as the radio wave output of the RFID reader increases, the reading area of the wireless tag expands. Therefore, a large number of wireless tags existing far from the RFID antenna also respond to the read command of the RFID reader. As a result, communication collisions between the RFID reader and a large number of wireless tags may occur, deteriorating the reading performance of the wireless tags.

On the other hand, when the radio wave output of the RFID reader is lowered, the reading area of the wireless tag is reduced. Therefore, since the RFID reader can read only the wireless tags existing in the vicinity of the RFID antenna, it is possible to avoid a situation in which a large number of wireless tags respond at the same time. However, the reading performance of radio tags that are densely stacked is degraded.

In addition, when the moving speed of the self-propelled robot decreases, the time it takes for the radio wave sent from the RFID reader to continue reaching the wireless tag increases. Therefore, the reading performance of the wireless tag is improved. However, the inventory time for reading all wireless tags increases.

On the other hand, if the moving speed of the self-propelled robot increases, the inventory time will be shortened. However, since there is a possibility that the wireless tag may be missed, the wireless tag reading performance may be degraded.

In order to solve the above problems, an information processing device, a reading device, and a program are provided that can reduce reading errors of wireless tags.

According to the embodiment, the information processing device is a device that controls a mobile device that includes an antenna that transmits and receives data to and from a wireless tag attached to an article, and a mobile mechanism that moves the antenna. The information processing device includes a storage section and a control section. The storage unit stores at least one of a first parameter related to the antenna and a second parameter related to the moving mechanism set for each segment in which the article is stored. The control unit adjusts at least one of setting of the antenna and setting of the moving mechanism for each segment based on at least one of the first parameter and the second parameter. .

FIG. 1 is a diagram showing a configuration example of a reading system according to an embodiment. FIG. 2 is a front view showing a configuration example of a shelf according to the embodiment; FIG. 3 is a block diagram showing a configuration example of the reading system according to the embodiment. FIG. 4 is a diagram illustrating a configuration example of work instruction information according to the embodiment. FIG. 5 is a diagram illustrating a configuration example of a shelf information DB according to the embodiment; FIG. 6 is a flow chart showing an operation example of the reading system according to the embodiment. FIG. 7 is a diagram illustrating an operation example of the reading system according to the embodiment; FIG. 8 is a diagram showing a configuration example of a shelf information DB according to a modification. FIG. 9 is a diagram showing a configuration example of a planogram information DB according to a modification.

Hereinafter, embodiments will be described in detail with reference to the drawings.

FIG. 1 is a diagram showing a configuration example of a reading system 1. As shown in FIG.
The reading system 1 is a system that reads a plurality of wireless tags in an area where a plurality of wireless tags exist. For example, the reading system 1 is used for inventory of articles in a store having a plurality of shelves. A reading system 1 is an example of a reading device that reads a plurality of wireless tags. Here, the position of the plane in the area where the multiple shelves are arranged is indicated by the coordinates defined by the x-axis and the y-axis perpendicular to the x-axis. The position in the height direction in the area where the multiple shelves are arranged is indicated by coordinates defined by the z-axis orthogonal to the x-axis and the y-axis.

Assume that each shelf is configured with a width that extends along the x-axis.
Here, one shelf A out of the plurality of shelves will be described as an example.

Shelf A includes a plurality of shelf rows separated by partitions. A plurality of shelf rows are arranged in a horizontal direction. For example, shelf A includes four shelf rows. A shelf row is an example of a segment, which is a compartment in which items are stored. Each shelf row is composed of a plurality of stages along the z-axis. For example, each shelf line is composed of four stages. A region of a row forming a row of shelves is called a section. The four stages constituting each shelf row are referred to as stage 1, stage 2, stage 3, and stage 4 in order from the top. The shelves other than the shelf A are configured in the same manner as the shelf A, so description thereof will be omitted.

Shelf A stores a plurality of articles. A plurality of items are stored (displayed) on shelf A along the x-axis. Item 300 is one of a plurality of items stored in a given section of shelf A. FIG. A wireless tag 301 is attached to the article 300 . For example, the wireless tag 301 is RFID. Articles other than the article 300 stored on the shelf A are also attached with wireless tags similar to the wireless tag 301 .

The wireless tag 301 wirelessly transmits/receives data to/from at least one of antennas 104a to 104d, which will be described later. The wireless tag 301 is wirelessly powered and activated by at least one of the antennas 104a-104d. The wireless tag 301 returns tag information including an identifier that uniquely identifies itself in response to a request through at least one of the antennas 104a-104d. If the item is a book, the identifier includes a book code, a serial number of the book, and the like.

The reading system 1 is composed of a system controller 10, a self-propelled robot 100, and the like. The system controller 10 and the self-propelled robot 100 are electrically connected to each other.

A system controller 10 controls the entire reading system 1 . The system controller 10 controls movement of the self-propelled robot 100 and reading of the wireless tag 301 . The system controller 10 will be described later.

Under the control of the system controller 10, the self-propelled robot 100 autonomously travels to its destination while generating its own route. The self-propelled robot 100 moves parallel or substantially parallel to the shelf A along the x-axis while facing the shelf A with the antennas 104a to 104d. Self-propelled robot 100 is an example of an autonomous carriage. Self-propelled robot 100 is also an example of a mobile device.

As shown in FIG. 1, the self-propelled robot 100 has a housing 101, wheels 102, a sensor 103, antennas 104a to 104d, and the like.

A housing 101 forms an outer shell of the self-propelled robot 100 . Wheels 102, sensors 103, and antennas 104a to 104d are attached to the housing 101. As shown in FIG.

Wheels 102 are attached to the bottom of housing 101 . The wheels 102 are driven by a motor 202 (to be described later) to move the housing 101 . Also, the wheels 102 change the direction of the housing 101 .

A sensor 103 is formed on the front surface of the self-propelled robot 100 . A sensor 103 is a sensor for detecting surrounding obstacles. The sensor 103 detects obstacles in the traveling direction of the self-propelled robot 100 . For example, the sensor 103 is composed of radar or the like.

Antennas 104a to 104d are formed in order from the top to the bottom of housing 101 . Antennas 104a to 104d are formed on the side surface of the housing 101 so as to face the shelf A. As shown in FIG.

Next, the antenna 104a will be described. The antenna 104a is a device that wirelessly transmits and receives data to and from the wireless tag 301 attached to the article 300 . The antenna 104 a receives radio waves from the wireless tag 301 . Also, the antenna 104 a transmits radio waves to the wireless tag 301 . The antenna 104a preferably has directivity, and the reading range in which radio waves can be transmitted and received is set according to the characteristics (such as directivity) of the antenna 104a and the installation orientation. The reading range of the antenna 104a is configured to read wireless tags attached to the articles stored in the first stage of the shelf A intensively. Therefore, the antenna 104a is in charge of reading the wireless tag stored in the stage 1 of the shelf A.

The reading range of the antenna 104b is configured to read wireless tags attached to the articles stored in the second stage of the shelf A intensively. Therefore, the antenna 104b is in charge of reading the wireless tag stored in the stage 2 of the shelf A. The reading range of the antenna 104c is configured to read wireless tags attached to the articles stored in the stage 3 of the shelf A intensively. Therefore, the antenna 104c is in charge of reading the wireless tag stored in the stage 3 of the shelf A. The reading range of the antenna 104d is configured to read wireless tags attached to articles stored in the stage 4 of the shelf A intensively. Therefore, the antenna 104d is in charge of reading the wireless tags stored in the stage 4 of the shelf A.

The configurations of the antenna 104b, the antenna 104c, and the antenna 104d are the same as that of the antenna 104a, so description thereof will be omitted. The sum of the reading ranges of the antennas 104a-104d is set to cover the shelf A from the top end to the bottom end. Sometimes referred to simply as antenna 104 to refer to at least one of antennas 104a-104d.

The number and positions of the antennas 104 included in the self-propelled robot 100 are not limited to a specific configuration.

FIG. 2 is a front view showing a configuration example of the shelf A. FIG.
Shelf A includes four shelf rows 30 , 31 , 32 and 33 . Here, it is assumed that the articles stored on shelf A are books.

It is assumed that novels are stored in sections 1 and 2 of the shelf row 30 and in the section of the first row of the shelf row 31 . A novel is an example of a relatively thick book.

It is assumed that dictionaries are stored in the sections of stages 3 and 4 of shelf row 31 , stages 2 , 3 and 4 of shelf row 32 , and stages 3 and 4 of shelf row 33 . A dictionary is an example of a relatively thick book.

It is assumed that magazines are stored in the tier 3 and tier 4 sections of shelf row 30 . A magazine is an example of a relatively thin book.

It is assumed that pamphlets such as journals of academic societies are stored in the section of row 2 of shelf row 31 . An academic journal is an example of a relatively thin book.

Row 1 of shelf row 32 and rows 1 and 2 of shelf row 33 are empty sections in which no books are stored.

FIG. 3 is a block diagram showing a configuration example of the reading system 1. As shown in FIG.
The system controller 10 is an example of an information processing device that controls the self-propelled robot 100 .

The system controller 10 includes a processor 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, an NVM (Non-volatile Memory) 14, a communication section 15, and the like. The processor 11, ROM 12, RAM 13, NVM 14, and communication unit 15 are connected to each other via a data bus or the like.

The processor 11 has a function of controlling the operation of the system controller 10 as a whole.
For example, the processor 11 is a CPU (Central Processing Unit). Processor 11 is an example of a control unit. The processor 11 may include an internal memory, various interfaces, and the like. The processor 11 implements various processes by executing programs pre-stored in the internal memory, ROM 12, NVM 14, or the like.

Note that some of the various functions realized by the processor 11 executing the program may be realized by hardware circuits. In this case, processor 11 controls the functions performed by the hardware circuits.

The ROM 12 is a non-volatile memory that stores control programs and control data in advance. The ROM 12 is incorporated in the system controller 10 in a state in which control programs, control data, and the like are stored in the manufacturing stage. That is, the control programs and control data stored in the ROM 12 are incorporated in advance according to the specifications of the system controller 10 .

RAM 13 is a volatile memory. The RAM 13 temporarily stores data being processed by the processor 11 . RAM 13 stores various application programs based on instructions from processor 11 . Also, the RAM 13 may store data necessary for executing the application program, execution results of the application program, and the like.

The NVM 14 is a non-volatile memory in which data can be written and rewritten. For example, the NVM 14 includes a HDD (Hard Disk Drive), SSD (Solid State Drive), EEPROM (registered trademark) (Electrically Erasable Programmable Read-Only Memory), flash memory, or the like. The NVM 14 stores control programs, applications, various data, etc. according to the operational use of the system controller 10 . The NVM 14 is an example of a storage unit.

The NVM 14 stores work instruction information, a shelf information DB (database), the aforementioned tag information, and the like.

The work instruction information is information that instructs the self-propelled robot 100 to move to which shelf and to perform inventory work for which row of shelves. That is, the work instruction information is information that instructs the system controller 10 to read a plurality of wireless tags using the self-propelled robot 100 . Here, the work instruction information includes information on one or more inventory-targeted shelf rows for which the reading system 1 reads a plurality of wireless tags. The work instruction information will be described later.

The shelf information DB is a collection of shelf information that defines conditions for reading wireless tags on each shelf. The reading conditions include first parameters related to the antennas 104a to 104d and second parameters related to the moving mechanism 200 set for each shelf row. For example, the first parameter includes, but is not limited to, the radio field strength of antennas 104a-104d. For example, the second parameter includes, but is not limited to, the moving speed of moving mechanism 200 .

The NVM 14 stores the first parameter and the second parameter set for each shelf line by the shelf information DB. The shelf information DB will be described later.

The communication unit 15 is an interface for transmitting and receiving data to and from the self-propelled robot 100 . The communication unit 15 transmits and receives data to and from the self-propelled robot 100 by wire or wirelessly. For example, the communication unit 15 is an interface that supports LAN (Local Area Network) connection.

As shown in FIG. 3, the self-propelled robot 100 includes a sensor 103, antennas 104a-104d, a moving mechanism 200, a reader 210, and the like. Sensor 103 and antennas 104a-104d are as described above.

The moving mechanism 200 is a mechanism for moving the self-propelled robot 100 . Since the self-propelled robot 100 has antennas 104a to 104d, the moving mechanism 200 can also be said to be a mechanism for moving the antennas 104a to 104d. The moving mechanism 200 includes wheels 102, a travel controller 201, a motor 202, a rotary encoder 203, and the like. The travel controller 201 is electrically connected to the motor 202 and the rotary encoder 203 . Wheel 102 and motor 202 are physically connected. The wheels 102 are as previously described.

The travel controller 201 moves the self-propelled robot 100 under the control of the system controller 10 . The travel controller 201 controls the motor 202 and the like to move the self-propelled robot 100 . For example, travel controller 201 supplies electric power, pulses, or the like to motor 202 .

The traveling controller 201 is composed of a processor and the like. Travel controller 201 may be implemented by a processor executing software. Further, the travel controller 201 may be configured from hardware such as an ASIC (application specific integrated circuit) as a processor.

Motor 202 is driven under the control of travel controller 201 . Motor 202 connects to wheels 102 via gears, belts, or the like. The motor 202 rotates the wheel 102 by its own driving force.

A rotary encoder 203 is connected to the rotating shaft of the motor 202 . A rotary encoder 203 measures the rotation angle of the motor 202 . The rotary encoder 203 transmits the measured rotation angle to the system controller 10 . Note that the rotary encoder 203 may be built in the motor 202 .

The reader 210 is an interface for wirelessly transmitting and receiving data to and from the wireless tags through the antennas 104a-104d. For example, the reader 210 transmits radio waves from any one of the antennas 104a to 104d while switching between the antennas 104a to 104d in a time division manner. The reader 210 adjusts the settings of the antennas 104a-104d for each shelf row based on the first parameter under the control of the system controller 10. FIG. For example, the reader 210 adjusts the radio field intensity of the antennas 104a to 104d for each shelf row.

The reader 210 reads the tag information of the wireless tag by data communication with the wireless tag. For example, the reader 210 transmits a predetermined read command to the wireless tag under the control of the system controller 10. FIG. The reader 210 receives tag information as a response to the read command. The reader 210 transmits the received tag information to the system controller 10 . The self-propelled robot 100 may have four readers corresponding to the number of antennas.

Note that the reading system 1 may have a configuration other than the configuration shown in FIGS. 1 and 2 as necessary, or a specific configuration may be excluded from the reading system 1 .

Next, work instruction information will be described.
FIG. 4 shows a configuration example of a structure array that stores work instruction information.

Each array element is arranged in sequence number i indicating the work order. i is a variable indicating a sequence number. The array element has an n indicating the shelf row number to be taken and an act member indicating the operation mode. When the act member is 0, it means that the self-propelled robot 100 performs inventory of the shelf number. When the act member has a value other than 0, it means that the self-propelled robot 100 moves to the target shelf row number at the speed of the value without taking inventory.

For example, the first (i=0) in the work instruction information array means that the self-propelled robot 100 moves toward the shelf row 30 at 30 cm/s. The second (i=1) in the array means that the inventory of the shelf row 30 is to be performed. When the value of the shelf row number is negative like the fifth (i=5) in the array, it indicates that the self-propelled robot 100 has completed a series of inventory work.

The work instruction information is stored in the NVM 14 by an operator or the like. The processor 11 may also receive work instruction information from an external device and store it in the NVM 14 . Also, the work instruction information may be updated as appropriate.
Note that the configuration of the work instruction information is not limited to a specific configuration.

Next, the shelf information DB will be explained.

FIG. 5 is a configuration example of a structure array for storing shelf information related to shelf A that constitutes the shelf information DB.

Each array element is arranged in the order of shelf row number m that identifies each shelf row. The array element has an inventory start position (x1, y1) and an inventory end position (x2, y2). The inventory start position and inventory end position are coordinate positions. The inventory start position is the starting point. The stocktaking end position is the end point. The array element has the direction (drct) of the self-propelled robot 100 when the self-propelled robot 100 reaches the stocktaking start position.

The array elements have radio wave intensities (a, b, c, d) for respective radio wave outputs of the antennas 104a to 104d. The radio wave intensity (a, b, c, d) is an example of the first parameter. The radio wave intensity (a) of the antenna 104a is set for each shelf row and for each section corresponding to the reading range of the antenna 104a. For example, the radio wave intensity (a) of the antenna 104a is set according to the density of wireless tags stored in each section. The radio wave intensity (a) of the antenna 104a is set to increase as the density of wireless tags stored in the section for which the radio wave intensity (a) of the antenna 104a is set increases. One reason is that the higher the radio wave intensity (a) of the antenna 104a, the better the reading performance of wireless tags that are densely stacked.

The radio wave intensity (a) of the antenna 104a may be adjusted based on the factors exemplified below in addition to the density of wireless tags stored in the section to be set.

For example, the radio field strength (a) of the antenna 104a may be adjusted based on the orientation of the wireless tag stored in the section to be set. For example, the radio field intensity (a) of the antenna 104a is set weaker when the wireless tag faces the antenna 104a than when the wireless tag faces the antenna 104a. For example, when a wireless tag is attached to the spine of a book, the wireless tag faces the antenna 104a. When the wireless tag is attached to the back cover of the book, the wireless tag does not face the antenna 104a. One reason is that when the wireless tag faces the antenna 104a, it responds with a weaker radio wave intensity than when it faces the antenna 104a. Another reason is that if the radio field intensity (a) of the antenna 104a is made too strong, wireless tags other than those stored in the section to be set will also respond. As a result, communication collisions occur between the reader 210 and a large number of wireless tags, degrading the reading performance of the wireless tags.

For example, the radio field intensity (a) of the antenna 104a may be adjusted based on the surrounding environment of the section to be set. The ambient environment is the state of the wireless tags stored in the sections surrounding the section for which the radio wave intensity (a) of the antenna 104a is to be set. For example, the wireless tag status includes the amount of wireless tags and the orientation of the wireless tags. The radio field intensity (a) of the antenna 104a is set so that the wireless tags stored in the section to be set respond, but the wireless tags in the surrounding environment are less likely to respond. One reason is that if the radio wave intensity (a) of the antenna 104a is made too strong, wireless tags stored in sections other than the section to be set will also respond. As a result, communication collisions occur between the reader 210 and a large number of wireless tags, degrading the reading performance of the wireless tags.

The radio wave intensity (b) of the antenna 104b, the radio wave intensity (c) of the antenna 104c, and the radio wave intensity (d) of the antenna 104d are similarly set.

The array element has a moving speed (v) member of the moving mechanism 200 at the time of inventory. The moving speed (v) is an example of a second parameter. The moving speed (v) is set according to the density of wireless tags for each shelf row. For example, the moving speed (v) is set according to the highest density among the densities of the wireless tags stored in each section forming the rack row. The moving speed (v) becomes slower as the density increases. One reason is that the slower the moving speed (v), the better the reading performance of densely stacked wireless tags. Note that the moving speed (v) may be appropriately set in consideration of not only the radio tag density but also the radio field strengths (a, b, c, d) of the antennas 104a to 104d.

The shelf row 30 will be described as an example. The inventory start position (x1, y1) is x1=2d, y1=d. The stocktaking end position (x2, y2) is x2=4d and y2=d. The orientation (drct) when the self-propelled robot 100 reaches the stocktaking start position is 0 (deg). 0 (deg) is the orientation of the self-propelled robot 100 in which the antennas 104a to 104d face the shelf A. Here, 0 (deg) is assumed to be in the X-axis direction. The X-axis direction shall be parallel to the first direction in which each shelf extends. Therefore, the self-propelled robot 100 moves parallel or substantially parallel to the shelf A while facing the shelf A with the antennas 104a to 104d.

The radio wave intensity (a) of the antenna 104a and the radio wave intensity (b) of the antenna 104b are 125 mW. In other words, the antennas 104a and 104b transmit radio waves for reading wireless tags with an intensity of 125 mW. The radio wave intensity (c) of the antenna 104c and the radio wave intensity (d) of the antenna 104d are 500 mW. In other words, the antennas 104c and 104d transmit radio waves for reading wireless tags with an intensity of 500 mW. The moving speed (v) of the self-propelled robot 100 during inventory is 10 cm/s. This means that the self-propelled robot 100 moves at 10 cm/s.

The shelf row 33 will be described as an example. The inventory start position (x1, y1) is x1=8d, y1=d. The stocktaking end position (x2, y2) is x2=10d, y2=d. The orientation (drct) when the self-propelled robot 100 reaches the stocktaking start position is 0 (deg). The radio wave intensity (a) of the antenna 104a and the radio wave intensity (b) of the antenna 104b are 0 mW. In other words, the antennas 104a and 104b do not transmit radio waves for reading wireless tags. The radio wave intensity (c) of the antenna 104c and the radio wave intensity (d) of the antenna 104d are 125 mW. In other words, the antennas 104c and 104d transmit radio waves for reading wireless tags with an intensity of 125 mW. The moving speed (v) of the self-propelled robot 100 during inventory is 20 cm/s. This means that the self-propelled robot 100 moves at 20 cm/s.

The shelf information DB is stored in the NVM 14 by an operator or the like. Also, the processor 11 may receive the shelf information DB from an external device and store it in the NVM 14 . Also, the shelf information DB may be updated as appropriate.
Note that the configuration of the shelf information DB is not limited to a specific configuration.

Next, functions realized by the processor 11 will be described. The processor 11 implements the following functions by executing software stored in the ROM 12, NVM 14, or the like.

First, the processor 11 has a function of moving the self-propelled robot 100 to a predetermined location.

For example, processor 11 receives an input to start inventory work. The processor 11 acquires the work instruction information and the shelf information DB from the NVM 14 based on the input for starting the inventory work. The processor 11 specifies the work start position of the inventory work based on the work instruction information and the shelf information DB.

After identifying the work start position, the processor 11 identifies a route from the current position of the self-propelled robot 100 to the work start position. The work start position is also the inventory start position. For example, the processor 11 acquires map information of the store where each shelf is installed. For example, the map information includes information such as shelf positions, travelable areas, non-travelable areas, and obstacle positions. Processor 11 identifies the route based on the map information.

After specifying the route, the processor 11 moves the self-propelled robot 100 along the route. For example, the processor 11 controls the movement mechanism 200 to move the self-propelled robot 100 along the route. Note that the processor 11 may modify the planned route to avoid obstacles detected by the sensor 103 .

The processor 11 moves the self-propelled robot 100 to a work start position on a predetermined shelf by moving the self-propelled robot 100 along the route. When the processor 11 moves the self-propelled robot 100 to the work start position, the processor 11 stops the self-propelled robot 100 . The processor 11 aligns the advancing direction of the self-propelled robot 100 with a predetermined direction.

The processor 11 also has a function of reading wireless tags using the antenna 104 and reader 210 .

For example, the processor 11 adjusts the settings of the antennas 104a to 104d for each shelf row based on the first parameter read from the shelf information DB. Here, the processor 11 changes the setting value regarding the radio wave intensity of the antennas 104a to 104d of the reader 210 to the first parameter read from the shelf information DB for each shelf row. Thereby, the processor 11 can use the reader 210 to adjust the radio wave intensity of the antennas 104a to 104d for each shelf row. The processor 11 uses the antenna 104 and the reader 210 to transmit a request to the wireless tag and acquires tag information from the wireless tag.

The processor 11 also has a function of adjusting the moving speed of the self-propelled robot 100 for each shelf row.

For example, the processor 11 adjusts the setting of the moving mechanism 200 for each shelf row based on the second parameter read from the shelf information DB. Here, the processor 11 sets the set value of the moving mechanism 200 in the travel controller 201 to the second parameter read from the shelf information DB for each shelf row. Thereby, the processor 11 can adjust the moving speed of the moving mechanism 200 for each shelf row. The processor 11 uses the traveling controller 201 to move the self-propelled robot 100 at a moving speed adjusted for each shelf row.

The processor 11 also has a function of determining whether the self-propelled robot 100 has moved to the other end of the shelf.

For example, processor 11 acquires the rotation angle of motor 202 from rotary encoder 203 . The processor 11 calculates the distance traveled by the self-propelled robot 100 from the work start position based on the rotation angle and the like. Note that the processor 11 may specify the movement distance further based on the obstacle detected by the sensor 103 . Processor 11 determines if the travel distance has reached the width of the shelf.

When the processor 11 determines that the self-propelled robot 100 has moved to the other end of the shelf, it ends reading the wireless tag.

If the work instruction information indicates multiple shelves, the processor 11 performs similar operations for each shelf. Also, when there is a plurality of pieces of work instruction information, the processor 11 performs the same operation for each piece of work instruction information.

Next, an operation example of the reading system 1 will be described.
FIG. 6 is a flowchart for explaining an operation example of the reading system 1. FIG.

First, the processor 11 initializes variables including the variable i indicating the sequence number in the RAM 13 (i=0). Further, the processor 11 initializes (stands by) the reader 210 (Act 101).

Next, the processor 11 uses the variable i with an initial value of 0 as an argument, and from the work instruction information, the stocktaking target shelf row number p[i]. n and operation modes p[i]. get act. Processor 11 stores p[i] . It is determined whether or not n is a negative value (Act 102).

Processor 11 stores p[i] . If it is determined that n is a negative value (Act 102, Yes), the work ends. Processor 11 stores p[i] . If it is determined that n is not negative (Act 102, No), p[i]. It is determined whether or not act=0 (Act 103). p[i]. If the value of act is greater than 0, the work is just a move. p[i]. If the value of act is 0, the work is inventory.

Processor 11 stores p[i] . If it is determined that act=0 is not true (Act 103, No), the following processing is performed to move the self-propelled robot 100 to the target location.

Processor 11 stores shelf row number p[i] . With n as a key, the shelf information DB is referenced, and the destination coordinate X=r[p[i]. n]. x1, coordinate Y=r[p[i] . n]. get y1. Coordinates X=r[p[i]. n]. x1 and coordinates Y=r[p[i] . n]. The position defined by y1 is the inventory start position. Processor 11 stores shelf row number p[i] . Using n as a key, the movement speed V=p[i] . get act. Processor 11 computes X=r[p[i] . n]. x1, Y=r[p[i] . n]. y1 and V=p[i]. act is set in the running controller 201 (Act 104).

Next, the processor 11 instructs the traveling controller 201 to start moving the self-propelled robot 100 to the destination point, which is the inventory start position (X, Y), at the moving speed V (Act 105). The processor 11 determines whether or not the self-propelled robot 100 has completed the movement to the destination point (Act 106). In Act 106, the processor 11 determines that movement has been completed based on the reception of the signal notified from the traveling controller 201 when the self-propelled robot 100 reaches the destination point.

If the processor 11 determines that the movement has not been completed (Act 106 , No), it waits until it receives a signal from the traveling controller 201 . When the processor 11 determines that the movement has been completed (Act 106, Yes), the processor 11 refers to the shelf information DB and selects the direction r[p[i]. n]. Read drct. The processor 11 detects that the traveling direction of the self-propelled robot 100 is r[p[i] . n]. The self-propelled robot 100 is rotated in the direction indicated by drct (Act 107). Up to this point, the sequence in which the self-propelled robot 100 moves to the destination point is completed.

Processor 11 increments variable i (Act 108), returns to Act 102, and continues similar processing.

Processor 11 stores p[i] . When it is determined that act=0 (Act 103, Yes), processing is performed to start inventory for each shelf line as follows.

The processor 11 refers to the shelf information DB and calculates the radio wave intensities r[p[i] . n]. a, r[p[i] . n]. b, r[p[i] . n]. c and r[p[i] . n]. read d. The processor 11 sets the set values regarding the radio wave intensity of the antennas 104a to 104d in the reader 210 to r[p[i]. n]. a, r[p[i] . n]. b, r[p[i] . n]. c and r[p[i] . n]. d (Act 109). In this manner, processor 11 can adjust the settings of antennas 104a-104d for each shelf row based on the first parameter. As a result, for example, the antennas 104a to 104d can transmit radio waves with intensities adjusted for each shelf row.

Next, the processor 11 selects the shelf number p[i]. With n as a key, the shelf information DB is referred to, and the coordinates X=r[p[i] . n]. x2, coordinate Y=r[p[i] . n]. y2 and moving speed V=r[p[i]. n]. get v. Coordinates X=r[p[i]. n]. x1 and coordinates Y=r[p[i] . n]. The position defined by y1 is the stocktaking end position. Processor 11 processes r[p[i] . n]. x2, r[p[i] . n]. y2 and r[p[i]. n]. v is set in the travel controller 201 (Act 110). Thus, the processor 11 can adjust the setting of the moving mechanism 200 for each shelf row based on the second parameter. Thereby, for example, the self-propelled robot 100 can move at a moving speed adjusted for each shelf row.

Next, the processor 11 starts reading the wireless tag using the antenna 104 and reader 210 (Act 111).

Next, the processor 11 instructs the traveling controller 201 to cause the self-propelled robot 100 to start moving at the moving speed V to the stocktaking end position (X, Y) for each shelf row (Act 112).

Next, processor 11 stores the tag information read by reader 210 in RAM 13 (Act 113).

Next, the processor 11 determines whether or not the self-propelled robot 100 has completed movement to the stocktaking end position for each shelf row (Act 114). In Act 114, the processor 11 determines that movement has been completed based on the reception of the signal notified from the travel controller 201 when the self-propelled robot 100 has arrived at the inventory end position for each shelf row.

If the processor 11 determines that the movement has not been completed (Act 114 , No), it waits until it receives a signal from the traveling controller 201 . The processor 11 stores the tag information read by the reader 210 in the RAM 13 until it receives a signal from the traveling controller 201 .

When the processor 11 determines that the movement has been completed (Act 114, Yes), it stops the operation of the reader 210 (Act 115). Thereby, the processor 11 completes the inventory of one shelf line.

Next, the processor 11 increments the variable i (Act 116) and returns to Act 102 to continue similar processing.

An example of a series of movements of the reading system 1 will be described with reference to FIG.
FIG. 7 is a diagram showing an operation example of the reading system 1. As shown in FIG.
The self-propelled robot 100 is stationary at an arbitrary initial position 400 in an arbitrary orientation.

First, the processor 11 starts working with sequence number 0 (i=0). At sequence number 0, p[0] . n=30, p[0]. act=30. Therefore, the processing related to sequence number 0 is processing proceeding from Act 103 to Act 105 in FIG. The self-propelled robot 100 moves from an initial position 400 to a position 401 in front of the shelf row 30, which is the first destination. In a specific example, the self-propelled robot 100 has coordinates X=r[30] . x1=2d and coordinate Y=r[30] . To the position 401 defined by y1=d, the movement speed V=p[0] . Move at act=30 cm/s. After that, the self-propelled robot 100 changes the traveling direction 110 of the self-propelled robot 100 to the direction r[30]. Adjust to 0 (deg) indicated by drct. 0 (deg) is the X-axis direction. This completes the processing for sequence number 0.

Processor 11 then begins working with sequence number 1 (i=1). In sequence number 1, p[1] . n=30, p[1]. act=0. Therefore, the processing related to sequence number 1 is processing proceeding from Act 103 to Act 109 in FIG. The processor 11 refers to the shelf information DB, and determines the radio field strength r[30]. a, r[30] . b, r[30] . c and r[30]. Read the value indicated by d. Radio field intensity r[30]. a, r[30] . b, r[30] . c and r[30]. d is, in order, 125 mW, 125 mW, 500 mW and 500 mW. The processor 11 changes the setting values regarding the radio wave intensity of the antennas 104a to 104d in the reader 210 to 125mW, 125mW, 500mW and 500mW.

The processor 11 refers to the shelf information DB and calculates the coordinates X=r[30] . x2=4d, coordinate Y=r[30] . y2=d and moving speed V=r[30]. We get v=10 cm/s. The processor 11 sets the coordinate X=4d and the coordinate Y=d in the traveling controller 201 as the destination position 402 of the self-propelled robot 100 . A position 402 is an inventory end position. The processor 11 sets 10 cm/s as the moving speed of the self-propelled robot 100 .

Self-propelled robot 100 activates reader 210 and moves from position 401 to position 402 . In a specific example, the self-propelled robot 100 moves from a position 401 defined by coordinates X=2d and Y=d to a position 402 defined by coordinates X=4d and Y=d at a movement speed of 30 cm/s. do. The traveling direction 110 of the self-propelled robot 100 is the direction r[30] . It is 0 (deg) indicated by drct.

While the self-propelled robot 100 is moving from the position 401 to the position 402, the antennas 104a-104d transmit radio waves with intensities of 125mW, 125mW, 500mW and 500mW, respectively. The processor 11 stores in the RAM 13 the tag information read by the reader 210 while the self-propelled robot 100 is moving. When the self-propelled robot 100 reaches the destination position 402, the processing of sequence number 1 ends.

The work after sequence number 2 (i=2) is the same as the work of sequence number 1 described above. Note that in sequence number 5 (i=5), p[5] . n=−1. Therefore, the processing related to sequence number 5 is processing that proceeds from Act 102 in FIG. 6 to end. Thus, the processor 11 ends a series of inventory work.

Although the example in which the NVM 14 stores the first parameter and the second parameter set for each shelf line by the shelf information DB has been described, the present invention is not limited to this. The NVM 14 may store at least one of the first parameter and the second parameter set for each shelf row using the shelf information DB. In this example, the processor 11 sets at least one of the settings of the antennas 104a to 104d and the setting of the moving mechanism 200 for each shelf row based on at least one of the first parameter and the second parameter. to adjust. Therefore, processor 11 adjusts the settings of antennas 104a-104d for each shelf row based on the first parameter. Additionally or alternatively, processor 11 adjusts the settings of movement mechanism 200 based on the second parameter.

Although the example in which the first parameter is the radio wave intensity of the antennas 104a to 104d has been described, the present invention is not limited to this. A first parameter may include the elevational position of the antennas 104a-104d along the z-axis. In this example, in the inventory DB, array elements have height-direction positions along the z-axis of antennas 104a to 104d. The processor 11 can adjust the height direction positions of the antennas 104a to 104d along the z-axis for each shelf row by using a position adjustment mechanism (not shown) for the antennas 104a to 104d. This allows the processor 11 to adjust the antennas 104a to 104d to cover the RFID tags stored in all the sections of each shelf row, even if the height of each shelf is different.

Although an example in which the second parameter is the moving speed of the moving mechanism 200 has been described, the present invention is not limited to this. The second parameter may include the repeated movement and stopping of the self-propelled robot 100 between the inventory start position and the inventory end position. For example, the repetitive motion includes travel distance and stop time. In this example, in the inventory DB, array elements have values related to repeat operations. The processor 11 can adjust the repeated movements of the self-propelled robot 100 between the stocktaking start position and the stocktaking end position for each shelf row. For example, assume that the moving distance is 5 cm and the stopping time is 1 second. The self-propelled robot 100 repeats the operation of advancing 5 cm and stopping for 1 second between the stocktaking start position and the stocktaking end position. Thereby, without changing the movement speed, the processor 11 can adjust the movement of the self-propelled robot 100 so as to obtain the same effect as lowering the movement speed. It should be noted that as the stop time becomes longer, the movement of the self-propelled robot 100 can obtain the same effect as that of lowering the movement speed.

Although an example has been described in which each of the antennas 104a to 104d is in charge of reading wireless tags stored in one stage, the present invention is not limited to this. A single antenna 104 may be responsible for reading multiple stages. Multiple antennas 104 may be responsible for reading one stage. The read ranges covered by the multiple antennas 104 may overlap each other.

Although an example in which the article is a book has been described, the article is not limited to this. The article may be clothing or the like, as long as it is attached with a wireless tag.

According to this embodiment, the processor 11 can appropriately adjust at least one of the setting of the antenna 104 and the setting of the moving mechanism 200 for each shelf row. For example, in the shelf row 30, the antennas 104a, 104b, and the antennas 104c and 104d respectively transmit radio waves as follows. Since the antennas 104a and 104b are in charge of reading the wireless tags stored in the stage 1 section and the stage 2 section where the wireless tags are easy to read, they transmit low-power radio waves. The antennas 104c and 104d are responsible for reading the wireless tags stored in the third and fourth sections, where the wireless tags overlap and are difficult to read, so they transmit high-power radio waves. The self-propelled robot 100 moves at a moving speed (10 cm/s) that is half the normal moving speed (20 cm/s).

The processor 11 can reduce reading errors of the wireless tags in the stages 3 and 4 of the shelf row 30 where it is difficult to read the wireless tags. On the other hand, the processor 11 reduces the radio wave outputs of the antennas 104a and 104b in the first and second stages of the shelf row 30 where the wireless tags are easily read. Therefore, the processor 11 can suppress reading of a large number of wireless tags existing far from the antennas 104a and 104b.

Further, in the inventory of the shelf row 33, the antenna 104a is in charge of the first row section in which no products are stored, so it does not transmit radio waves for reading wireless tags. Similarly, since the antenna 104b is in charge of the second stage section in which no product is stored, it does not emit radio waves for reading wireless tags. As a result, the processor 11 can reduce unnecessary reading of wireless tags. The processor 11 can reduce power consumption associated with transmission of radio waves.

Next, a modified example of this embodiment will be described.
Unlike the shelf information DB shown in FIG. 5, the shelf information DB in the modified example does not have the first parameter value and the second parameter value for each shelf row.

FIG. 8 is a configuration example of a structure array that stores shelf information related to shelf A that constitutes the shelf information DB.

Each array element is arranged in the order of shelf row number m that identifies each shelf row. The array element has an inventory start position (x1, y1) and an inventory end position (x2, y2). The array element has the direction (drct) of the self-propelled robot 100 when the self-propelled robot 100 reaches the stocktaking start position.

The NVM 14 stores a planogram information DB. The planogram information DB is a set of planogram information indicating articles stored in each shelf row of each shelf. More specifically, the planogram information indicates articles stored in each section for each shelf row.

FIG. 9 is a diagram showing a configuration example of planogram information relating to shelf A that constitutes the planogram information DB. For example, the planogram information DB is a database already used by the library for book management.

The planogram information on the shelf A indicates books, which are articles stored in the respective sections of the stages 1 to 4 of the shelf rows 30 to 33, respectively.

The planogram information DB is stored in the NVM 14 by an operator or the like. Also, the processor 11 may receive the planogram information DB from an external device and store it in the NVM 14 . Also, the planogram information DB may be updated as appropriate.
The configuration of the planogram information DB is not limited to a specific configuration.

Next, functions realized by the processor 11 will be described.

The processor 11 has a function of deriving at least one of the first parameter and the second parameter. Here, the first parameter and the second parameter for each shelf row of shelf A will be described.

First, the processor 11 acquires planogram information about the shelf A. FIG. For example, the processor 11 reads from the NVM 14 the planogram information about the shelf A stored in the NVM 14 .

Next, the processor 11 derives at least one of the first parameter and the second parameter for each shelf row based on the shelf allocation information of the shelf A. FIG.

The shelf row 30 will be described as an example.
Based on the planogram information of shelf A, the processor 11 determines that the articles stored in the tier 1 and tier 2 sections of the shelf row 30 are novels. Based on the planogram information of shelf A, the processor 11 determines that the articles stored in the tier 3 and tier 4 sections of the shelf row 30 are magazines.

The processor 11 obtains the reading difficulty of the wireless tag in each section of the shelf row 30 . For example, the processor 11 obtains the reading difficulty level in each section of the shelf row 30 using a table in which articles and reading difficulty levels are associated in advance. When a plurality of magazines are arranged side by side, wireless tags are more likely to be densely stacked than when a plurality of novels or a plurality of dictionaries are arranged. Reading radio tags attached to magazines is more difficult than reading radio tags attached to novels or dictionaries. Therefore, magazines are associated with a "high" reading difficulty level. Novels or dictionaries are associated with "low" reading difficulty. Note that the reading difficulty level may be three or more levels according to the article.

The processor 11 derives the radio wave intensity of the antennas 104a to 104d in the shelf row 30 using a table in which the reading difficulty and the radio wave intensity are associated in advance. It is assumed that the radio wave intensity is 500 mW when the reading difficulty is "high". It is assumed that the radio wave intensity is 125 mW when the reading difficulty is "low".

The processor 11 derives the radio field strength (a) of the antenna 104a serving the row 1 section of the shelf row 30 to be 125 mW. The processor 11 derives the radio field strength (b) of the antenna 104b serving the row 2 section of the shelf row 30 to be 125 mW. The processor 11 derives the radio field strength (c) of the antenna 104c serving the row 3 section of the shelf row 30 to be 500 mW. The processor 11 derives the radio wave intensity (d) of the antenna 104d serving the section of the row 4 of the shelf row 30 to be 500 mW. Thus, the processor 11 makes the radio wave intensity (c) of the antenna 104c and the radio wave intensity (d) of the antenna 104d stronger than the radio wave intensity (a) of the antenna 104a and the radio wave intensity (b) of the antenna 104b. set.

The processor 11 derives the moving speed of the moving mechanism 200 in the shelf row 30 using a table in which reading difficulty levels and moving speeds are associated in advance. It is assumed that the moving speed is 10 cm/s when the reading difficulty is "high". When the reading difficulty is "low", it is assumed that the moving speed is the normal 20 cm/s.

The processor 11 adopts the higher reading difficulty level among the reading difficulty levels of each section, and derives the moving speed (v) of the moving mechanism 200 as 10 cm/s. This is to prevent reading errors in sections that are difficult to read.

Note that the processor 11 may derive the radio wave intensity of the antennas 104a to 104d in the shelf row 30 using a table in which articles and radio wave intensities are associated in advance. The processor 11 may derive the moving speed of the moving mechanism 200 in the shelf row 30 using a table in which articles and moving speeds are associated in advance.

In addition, for example, in the shelf row 33, the section of the first stage and the section of the second stage of the shelf row 33 are empty sections in which no books are stored. Therefore, the processor 11 derives the radio wave intensity (a) of the antenna 104a which is in charge of the section of the stage 1 of the shelf row 33 to be 0 mW. Similarly, the processor 11 derives the radio wave intensity (b) of the antenna 104b serving the row 2 section of the shelf row 33 to be 0 mW.

Next, the processor 11 stores in the NVM 14 at least one of the first parameter and the second parameter derived for each shelf row. Thereby, the processor 11 can adjust the settings of the antennas 104a to 104d for each shelf row based on the first parameter read from the NVM 14. FIG. The processor 11 can adjust the setting of the moving mechanism 200 for each shelf row based on the second parameter read from the NVM 14 .

According to a modification, the processor 11 can derive at least one of the first parameter and the second parameter for each shelf row using the existing planogram information DB.

While several embodiments of the invention have been described, these embodiments have been presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and equivalents thereof.

DESCRIPTION OF SYMBOLS 1... Reading system, 10... System controller, 11... Processor, 12... ROM, 13... RAM, 14... NVM, 15... Communication part, 30... Shelf row, 31... Shelf row, 32... Shelf row, 33... Shelf row , 100 Self-propelled robot 102 Wheel 103 Sensor 104 Antenna 104a Antenna 104b Antenna 104c Antenna 104d Antenna 200 Moving mechanism 201 Running controller 202 Motor 203 ... rotary encoder, 210 ... reader, 300 ... article, 301 ... wireless tag, A ... shelf.

Claims (4)

An information processing device for controlling a mobile device comprising an antenna for transmitting and receiving data to and from a wireless tag attached to an article, and a moving mechanism for moving the antenna,
a storage unit that stores at least one of a first parameter related to the antenna and a second parameter related to the moving mechanism set for each segment in which the article is stored;
acquiring information indicating the item stored for each segment, deriving at least one of the first parameter and the second parameter for each segment based on the information indicating the item; At least one of the first parameter and the second parameter derived for each segment is stored in the storage unit, and one of the antenna setting and the moving mechanism setting is performed for each segment. a control unit that adjusts at least one of the first parameter and the second parameter based on at least one of the first parameter and the second parameter;
Information processing device. The first parameter includes the radio field strength of the antenna,
The second parameter includes the moving speed of the moving mechanism,
The information processing device according to claim 1 . An antenna that transmits and receives data to and from a wireless tag attached to an article;
a moving mechanism for moving the antenna;
a storage unit that stores at least one of a first parameter related to the antenna and a second parameter related to the moving mechanism set for each segment in which the article is stored;
acquiring information indicating the item stored for each segment, deriving at least one of the first parameter and the second parameter for each segment based on the information indicating the item; At least one of the first parameter and the second parameter derived for each segment is stored in the storage unit, and one of the antenna setting and the moving mechanism setting is performed for each segment. a control unit that adjusts at least one of the first parameter and the second parameter based on at least one of the first parameter and the second parameter;
A reader comprising: A program for controlling a mobile device comprising an antenna for transmitting and receiving data to and from a wireless tag attached to an article, and a mobile mechanism for moving the antenna,
to the computer,
a function of acquiring information indicating the article stored for each segment;
a function of deriving at least one of a first parameter related to the antenna and a second parameter related to the moving mechanism for each segment based on the information indicating the article;
a function of storing at least one of the first parameter and the second parameter derived for each segment in a storage unit;
a function of acquiring at least one of the first parameter and the second parameter set for each segment from the storage unit;
a function of adjusting at least one of the antenna setting and the moving mechanism setting for each segment based on at least one of the first parameter and the second parameter;
program to make it happen.

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