JPWO2007043120A1 - Transport route determination device, transport route determination method, and transport route determination program - Google Patents

Abstract

IC tags (51 to 525) are installed in association with a plurality of racks for storing luggage (11 to 125) placed in the warehouse, and these ICs are mounted on a forklift (7) for carrying luggage. A transport route determination device (100) connected to a wide area reader (210) for detecting the tags (51 to 525) is installed. In this transport route determination device (100), the tag identification code is logically determined based on the tag identification code of the IC tag detected by the wide area reader (210) while the forklift (7) is moving toward the target rack. A passing point is determined based on the combined predetermined condition, and the transportation route is determined based on the predetermined condition logically combining the passing points based on the determined passing point. In this way, even when exceptional communication occurs due to the influence of a reflective substance and some IC tags cannot be detected, the transport route of the forklift (7) is determined with high accuracy.

Description

  The present invention relates to a transport route determination device, a transport route determination method, and a transport route determination program for determining a transport route of a transport vehicle that moves toward a designated location among a plurality of locations, and in particular, installed at a plurality of locations. When determining the transport route of a transport vehicle using a transmitter or the like, the transport route determination device can determine the transport route with high accuracy even in an environment where there are many reflective substances that can be disturbance factors when performing wireless communication. The present invention relates to a transportation route determination method and a transportation route determination program.

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

  As a technology using such an IC tag, for example, in PCT / JP2004 / 019619, in the warehouse entry / exit work, IC tags are respectively associated with a plurality of racks arranged in the warehouse, The IC tag reader / writer attached to the transport vehicle reads these IC tags, and based on the read IC tag, determines the position of the transport vehicle based on the preinstalled IC tag installation position. A technique for notifying the operator of the progress of the transport vehicle moving toward the rack is described.

  However, in IC tag installation sites such as warehouses, exception communication occurs due to the influence of disturbance factors such as multi-stage rack metal frames and dough can products, and communication with IC tags that should normally be able to communicate becomes impossible. In some cases, conversely, communication may be possible with an IC tag that should not be able to communicate. In this case, there is a problem that the position of the transport vehicle cannot be determined correctly.

  The present invention has been made to solve the above-described problems caused by the prior art, and determines the transport route of a transport vehicle such as a forklift with high accuracy even when exceptional communication occurs due to the influence of disturbance elements. It is an object to provide a transportation route determination device, a transportation route determination method, and a transportation route determination program.

  In order to solve the above-described problems and achieve the object, the present invention is a transportation route determination device that determines a transportation route of a transportation vehicle that moves toward a designated location among a plurality of locations, An identification information detecting means for receiving a signal transmitted from a transmitter installed in association with each location and detecting identification information indicating a position of the transmitter from the received signal; and detected by the identification information detecting means Transportation route determination means for determining whether or not the transportation vehicle is traveling along a correct transportation route based on a condition in which the identification information is logically combined.

  According to the present invention, a signal transmitted from a transmitter installed in association with a plurality of locations is received, identification information indicating the position of the transmitter is detected from the received signal, and the detected identification information is logically detected. Since it was decided to determine whether or not the transport vehicle is traveling along the correct transport route based on the combined conditions, exceptional communication occurred due to the influence of disturbance elements such as reflectors, and some transmitters were identified. Even when the information is not detected, it can be determined whether the transport vehicle is traveling along the correct transport route.

  Further, the present invention is the above invention, wherein the transport route determination means determines the position of the transport vehicle based on the identification information detected by the identification information detection means, and the determined position and the position determined in the past It is characterized in that it is determined whether or not the transport vehicle is traveling along a correct transport route based on a condition obtained by logically combining.

  According to the present invention, identification information is detected from transmitters installed in association with a plurality of locations, the position of the transport vehicle is determined based on the detected identification information, and the determined position and the past are determined. Since it was decided whether or not the transporting vehicle was following the correct transport route based on the condition that logically combined the position, exception communication occurred due to the influence of disturbance elements such as reflectors, and some Even if the identification information of the transmitter is not detected and, therefore, some of the points that the transport vehicle has passed cannot be determined, whether the transport vehicle is traveling on the correct transport route based on the determined points It can be determined whether or not.

  Moreover, the present invention is characterized in that, in the above invention, the transport route determination means determines the position of the transport vehicle based on a condition that logically combines the identification information detected by the identification information detection means. .

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

  Further, the present invention is the above invention, wherein the transport route determination means determines the position of the transport vehicle based on the identification information detected by the identification information detection means, and the determined position and the previously determined position It is characterized in that it is determined whether or not the transport vehicle is traveling on a correct transport route based on a condition obtained by combining the above with a logical product.

  According to the present invention, identification information is detected from transmitters installed in association with a plurality of locations, the position of the transport vehicle is determined based on the detected identification information, and the determined position is determined last time. Since it was decided whether or not the transporting vehicle was following the correct transport route based on the condition that combined the position with the logical product, exception communication occurred due to the influence of disturbance elements such as reflectors, and some Even if the identification information of the transmitter is not detected and, therefore, some of the points through which the transport vehicle has passed cannot be determined, if the two correct points are determined, the transport vehicle will travel on the correct transport route. It can be determined whether or not.

  Further, the present invention is the above invention, wherein the transportation route determination means determines whether or not the transportation vehicle is traveling along a correct transportation route, and if the transportation vehicle is not traveling along the correct transportation route, the transportation route is deviated. This is characterized in that the operator is notified of the fact.

  According to the present invention, it is determined whether or not the transport vehicle is traveling on the correct transport route, and if the transport vehicle is not traveling on the correct transport route, the operator is notified that the transport route has been removed. Therefore, the operator can recognize at an early stage that he has deviated from the transportation route, and can correct the course of the transportation vehicle.

  Further, the present invention is the above invention, wherein the transportation route determination means determines whether or not the transportation vehicle is traveling along a correct transportation route, and when the transportation vehicle is traveling along a correct transportation route, the transportation route is correctly determined. It is characterized by notifying the pilot of the progress.

  According to the present invention, it is determined whether or not the transport vehicle is traveling on the correct transport route, and when the transport vehicle is traveling on the correct transport route, the operator is informed that the transport route is traveling correctly. Since the notification is made, the operator can drive while constantly confirming that the transport vehicle is traveling on the correct transport route.

  In the present invention, the transmitter is an IC tag, and the identification information detecting means receives a signal from the IC tag using an IC tag reader / writer.

  According to the present invention, since the transmitter is an IC tag and a signal is received from the IC tag using an IC tag reader / writer, the type and format of identification information indicating the position of the transmitter can be changed. .

  In addition, the present invention is a transport route determination method for determining a transport route of a transport vehicle that moves toward a designated location among a plurality of locations, wherein the transmitter is installed in association with each of the plurality of locations. The identification information detection step for detecting the identification information indicating the position of the transmitter from the received signal and the identification information detected by the identification information detection step are logically combined. And a transport route determination step for determining whether or not the transport vehicle is traveling along a correct transport route.

  According to the present invention, a signal transmitted from a transmitter installed in association with a plurality of locations is received, identification information indicating the position of the transmitter is detected from the received signal, and the detected identification information is logically detected. Since it was decided to determine whether or not the transport vehicle is traveling along the correct transport route based on the combined conditions, exceptional communication occurred due to the influence of disturbance elements such as reflectors, and some transmitters were identified. Even when the information is not detected, it can be determined whether the transport vehicle is traveling along the correct transport route.

  In addition, the present invention is a transport route determination program for determining a transport route of a transport vehicle that moves toward a designated location among a plurality of locations, the transmitter installed in association with each of the plurality of locations. The identification information detection procedure for detecting the identification information indicating the position of the transmitter from the received signal and the identification information detected by the identification information detection procedure are logically combined. And a transportation route determination procedure for determining whether or not the transportation vehicle is traveling on a correct transportation route based on the computer.

  According to the present invention, a signal transmitted from a transmitter installed in association with a plurality of locations is received, identification information indicating the position of the transmitter is detected from the received signal, and the detected identification information is logically detected. Since it was decided to determine whether or not the transport vehicle is traveling along the correct transport route based on the combined conditions, exceptional communication occurred due to the influence of disturbance elements such as reflectors, and some transmitters were identified. Even when the information is not detected, it can be determined whether the transport vehicle is traveling along the correct transport route.

  According to the present invention, even when exceptional communication occurs due to the influence of a disturbance element such as a reflector and the identification information of some transmitters is not detected, it is determined whether or not the transporting vehicle is following the correct route. Therefore, it is possible to minimize an event such as skipping or reading omission of the transmitter, and to determine whether or not the transporting vehicle is traveling on the correct transporting route with high accuracy.

  In addition, according to the present invention, exceptional communication occurs due to the influence of a disturbance element such as a reflector and the identification information of some transmitters is not detected. Even if it cannot be determined, it can be determined whether the transport vehicle is following the correct route based on other points that can be determined, so events such as skipping the transmitter and reading omissions are minimized. This produces an effect that it can be determined whether or not the transport vehicle is traveling on the correct transport route with high accuracy.

  In addition, according to the present invention, the position of the transport vehicle can be determined even when exceptional communication occurs due to the influence of a disturbance element such as a reflector and the identification information of some transmitters is not detected. Thus, it is possible to minimize an event such as skipping of reading or reading omission of the transmitter, and to determine the position of the transport vehicle with high accuracy.

  In addition, according to the present invention, exceptional communication occurs due to the influence of a disturbance element such as a reflector and the identification information of some transmitters is not detected. Even if it cannot be determined, if two correct points are determined, it can be determined whether the transport vehicle is following the correct route. This produces an effect that it can be determined whether or not the transport vehicle is traveling on the correct transport route with high accuracy.

  In addition, according to the present invention, the operator can recognize early that he has deviated from the transportation route and can correct the course of the transportation vehicle, so that the transportation vehicle can be efficiently steered to the target location. There is an effect.

  In addition, according to the present invention, since it is possible to drive while constantly confirming that the transport vehicle is traveling on the correct transport route, there is an effect that the transport vehicle can be efficiently maneuvered to a target location. .

  In addition, according to the present invention, since the type and format of the identification information indicating the position of the transmitter can be changed, the number can be easily associated with the position of the location where the transmitter is installed. Thus, the identification information can be set as appropriate.

Drawing 1 is an explanatory view for explaining the concept of the conveyance course judging device concerning this example. FIG. 2 is a functional block diagram illustrating a configuration of the transport route determination device 100 according to the present embodiment. FIG. 3 is a diagram illustrating an example of the stock instruction information storage unit 140. FIG. 4 is a diagram illustrating an example of the location information storage unit 150. FIG. 5 is a flowchart illustrating a processing procedure of the transport route determination device 100 according to the present embodiment. FIG. 6 is a functional block diagram illustrating a configuration of a computer that executes the transportation route determination program according to the present embodiment.

Explanation of symbols

1 ₁ to 1 ₂₅ rack 2 _{1 to} 2 ₅ rack row 3 _{1 to} 3 ₃ entry lane 4 passing lane 5 _{1 to} 5 ₂₅ IC tag 6 _{1 to} 6 ₁₀ point 7 forklift 100 transport route determination device 110 input unit 120 display unit 130 IC tag reader control unit 140 Inventory instruction information storage unit 150 Location information storage unit 160 Passage point determination unit 170 Route determination unit 180 Passage point storage unit 210 Wide area reader 220 Right narrow area reader 230 Left narrow area reader 300 _{1 to} 300 ₂₅ Tag information 400 Computer 410 RAM
411 Transportation route determination program 420 CPU
421 Transport route determination process 430 HDD
440 PC interface 450 I / O interface

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

First, the concept of the transportation route determination device according to the present embodiment will be described. Drawing 1 is an explanatory view for explaining the concept of the conveyance course judging device concerning this example. In the example shown in the drawing, the warehouse, the rack 1 ₁ to 1 ₂₅ for placing luggage, the rack rows 2 ₁ to 2 ₅ 1 column consists of five racks, while the forklift 7 of the rack rows It arrange | positions so that the entrance lane 3 ₁ to ₃ 3 for approaching and the passing lane 4 which passes the side of the rack row 2 ₁ to ₂₅ may be comprised. Further, here, the rack 1 ₁₄ is configured as a rack entry and leaving the luggage.

The rack ₁ 1 to 1 _25, IC tag 5 _{1-5 25} respectively are mounted in association. These IC tag 5 ₁ to 5 _25, tag information are respectively stored. This tag information includes a tag identification code that is unique for each tag.

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

Wide area reader 210 is connected to the conveying path determination unit 100, directivity so that the communication range that can read the tag information from a plurality of IC tags 5 ₁ to 5 ₂₅ is adjusted.

  The right narrow area reader 220 is connected to the transport route determination device 100 and is a wide area reader so that tag information can be read from only one IC tag among the IC tags located on the right side of the forklift 7. The directivity is adjusted so that the communication range is narrower than that of 210.

  The left narrow area reader 230 is connected to the transport route determination device 100 and is a wide area reader so that tag information can be read from only one IC tag among the IC tags located on the left side of the forklift 7. The directivity is adjusted so that the communication range is narrower than that of 210.

The conveying path determining device 100 in advance, and the location determination condition for determining the position of the forklift 7 based on the IC tag 5 ₁ to 5 _25, the arrival path determination condition for determining the progress of the forklift 7 Remember.

Here, location determination condition is a condition in which the wide area reader 210 at a predetermined point ₆₁ through ₁₀ were combined with the IC tag 5 ₁ to 5 ₂₅ is assumed to detect logically in the warehouse.

In the example shown in FIG. 1, the point _61, is, for a point _{6 2 (5 1 or 5 6} ), (5 6
or 5 ₁₁ ) for point 6 ₃ , (5 ₁₁ or 5 ₁₆ ) for point 6 ₄ , (5 ₁₆ or 5 ₂₁ ) for point 6 ₅ , (5 ₁ and 5 ₆ ) or (5 ₂ and 5 ₇ ) or (5 ₁ and 5 ₂ ) or (5 ₆ and
5 ₇ ) for point 6 ₆ , (5 ₂ and 5 ₇ ) or (5 ₃ and 5 ₈ ) or (5 ₂ and 5 ₃ ) or (5 ₇ and 5 ₈ ) for point 6 ₇ , (5 ₃ and 5 ₈ ) or (5 ₄ and 5 ₉ ) or (5 ₃ and 5 ₄ ) or (5 ₈ and 5 ₉ ), about point 6 ₈ (5 ₁₁ and 5 ₁₆ ) or (5 ₁₂ and 5 ₁₇ ) _{or (5 11 and 5 12)} or (5 16 and 5 17), the point _{6 9, (5 12 and 5} 17) or (5 13 and 5 18) or (5 12 and 5 13) or (5 17 and 5 ₁₈ ) is defined as the location determination condition for point 6 ₁₀ (5 ₁₃ and 5 ₁₈ ) or ( ₅₁₄ and 5 ₁₉ ) or (5 ₁₃ and 5 ₁₄ ) or (5 ₁₈ and 5 ₁₉ ) Has been.

Based on this location determination condition, by determining the combinations of the IC tag 5 ₁ to 5 ₂₅ read by the wide area reader 210 can determine the point ₆₁ through ₁₀ forklift 7 has passed at that time.

Here, the course of the forklift 7 progresses, the exception communication is generated, the IC tag 5 ₁ to 5 ₂₅ to the wide area reader 210 is assumed to be detected at each point, even if it can not necessarily all detection, location determination condition Is established, and it can be determined that the forklift 7 has passed the point.

For example, if the point ₆₁ forklift 7 has passed, but would normally 5 ₁ and 5 ₆ IC tag is should be detected by the wide area reader 210, even if an exception communication occurs, either 1 One of if the IC tag is detected, it can be determined to have passed the point _61.

Similarly, if the point 6 ₂ forklift 7 has passed, but would normally 5 ₆ and 5 ₁₁ IC tag is should be detected by the wide area reader 210, even if an exception communication occurs, either if one IC tag is detected, it can be determined to have passed the point 6 _2.

Similarly, if the point 6 ₃ forklift 7 has passed, but would normally 5 ₁₁ 5 ₁₆ IC tag is should be detected by the wide area reader 210, even if an exception communication occurs, either if one IC tag is detected, it can be determined to have passed the point 6 _3.

Also, if the point 6 ₈ forklift 7 has passed, but would normally 5 _11, 5 _12, 5 _16, and 5 ₁₇ IC tag is should be detected by the wide area reader 210, an exception communication is generated even when any two adjacent IC tag, or, if any two opposing to each other IC tag is detected, it can be determined to have passed the point 6 _8.

Similarly, if the point 6 ₉ forklift 7 has passed, but would normally 5 _12, 5 _13, 5 _17, and 5 ₁₈ IC tags should be detected in the wide area reader 210, an exception communication even if that occurs, any two adjacent IC tag, or, if any two opposing to each other IC tag is detected, it can be determined to have passed the point 6 _9.

Similarly, if the point 6 ₁₀ forklift 7 has passed, but would normally 5 _13, 5 _14, 5 _18, and 5 ₁₉ IC tags should be detected in the wide area reader 210, an exception communication even if that occurs, any two adjacent IC tag, or, if any two opposing to each other IC tag is detected, it can be determined to have passed the point 6 _10.

  The arrival route judgment condition is a condition in which two points are combined by logical product from all points on the route until reaching the rack to be loaded and unloaded, and all combinations of logical products are further connected by logical sum. is there.

In the example shown in FIG. 1, the rack 1 ₁₄ point 6 ₁ on the path to reach the, 6 _2, 6 _3, 6 _8, 6 _9, and 6 ₁₀ goods movements, (point ₆₁ and point 6 ₂ ) or (Point 6 ₁ and Point 6 ₃ ) or (Point 6 ₁ and Point 6 ₈ ) or (Point 6 ₁ and Point 6 ₉ ) or (Point 6 ₁ and Point 6 ₁₀ ) or (Point 6 ₂ and Point 6 ₃ ) or (Point 6 ₂ and Point 6 ₈ ) or (Point 6 ₂ and Point 6 ₉ ) or (Point 6 ₂ and Point 6 ₁₀ ) or (Point 6 ₃ and Point 6 ₈ ) or (Point 6 ₃ and Point 6 ₉ ) or (Point 6 ₃ and Point 6 ₁₀ ) or (Point 6 ₈ and Point 6 ₉ ) or (Point 6 ₈ and Point 6 ₁₀ ) or (Point 6 ₉ and Point 6 ₁₀ ) Is set.

Based on this unreachable route determination condition, a passing point ₆₁ through ₁₀ determined by the location determination condition described above, by determining the combination of the point ₆₁ through ₁₀ determined in the previous determination, forklift 7 , it is possible to determine whether the proceeding on route to reach the rack 1 ₁₄ to goods movements correctly.

Here, even when exceptional communication occurs while the forklift 7 is moving, at least one of the points 6 ₁ , 6 ₂ , 6 ₃ , 6 ₈ , 6 _9, or 6 ₁₀ is determined according to the location determination condition described above. If at least one of the points 6 ₁ , 6 ₂ , 6 ₃ , 6 ₈ , 6 _9, or 6 ₁₀ is determined at the previous determination, the arrival route determination condition is satisfied, and the forklift 7 moves along the route. It can be determined that the vehicle is moving correctly.

For example, assume that the forklift 7 has traveled in the order of points 6 ₃ , 6 ₈ , and 6 ₉ . Exception communication occurs at the time of passing through the point _6-8, IC tag reader 200 is not able to detect the IC tag 5 ₁₁ and 5 _16, as a result, even when the point 6 ₈ can not be determined by location determination condition , if it is determined that the point 6 ₃ at the previous determination, then at the time point 6 ₉ has been determined, it can be determined that the forklift 7 is progressing properly route.

By the way, when the forklift 7 enters the wrong approach lane 3 ₁ , the IC tags 5 ₂ and 5 ₇ are detected by the wide area reader 210. Then, the location determination condition, the forklift 7 is determined to have passed the point 6 ₅ or 6 _6, since the arrival path determination condition is not satisfied, the forklift 7 is determined to have deviated from the route. In this case, a warning message indicating that the vehicle is entering the wrong lane is notified to the pilot.

Further, when the forklift 7 is proceeding on passing lane 4, or you've past the entrance lane 3 ₂ should enter in order to reach the rack 5 _14, the wide area reader 210, IC tag 5 ₂₁ is detected The Then, the location determination condition, the forklift 7 is determined to have passed the point 6 _4, since the arrival path determination condition is not satisfied, the forklift 7 is determined to have deviated from the route. In this case, a warning message indicating that the vehicle has passed the target lane is notified to the pilot.

Further, the IC tag wide reader 210 detects, if it contains an IC tag 5 ₁₄ corresponding to the rack 1 ₁₄ to goods movements are right narrow area reader 220 and the left short range reader 230 is activated . Then, if any of the narrow area reader detects the IC tag 5 ₁₄ objects for operator of the forklift 7, a message indicating that it has found the rack 1 ₁₄ of interest is notified.

As described above, the transportation route determination device 100 according to the present embodiment combines the location determination condition that logically combines the IC tag codes and the arrival route determination condition that combines the points that have passed through at the time. by determining whether at each point on the path to reach the purpose of the rack, even when the IC tag 5 ₁ to 5 ₂₅ to be detected originally by exception communication is not detected, and proceeds to route correctly It can be determined whether or not.

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

Wide area reader 210 from the IC tag 5 ₁ to 5 _25, is a device for reading the tag information 300 ₁ to 300 ₂₅ stored in each. The wide area reader 210 is adjusted in directivity so as to have a communication range in which tag information can be read from a plurality of IC tags.

Right narrow area reader 220 from the IC tag 5 ₁ to 5 _25, is a device for reading the tag information 300 ₁ to 300 ₂₅ stored in each. The directivity of the right narrow area reader 220 is adjusted so as to be within a communication range in which tag information can be read from only one IC among the IC tags positioned to the right of the forklift 7.

Left short range reader 230 from the IC tag 5 ₁ to 5 _25, is a device for reading the tag information 300 ₁ to 300 ₂₅ stored in each. The directivity of the left narrow area reader 230 is adjusted so as to be within a communication range in which tag information can be read from only one IC tag among the IC tags located on the left side of the forklift 7.

Note that the tag information 300 ₁ to 300 ₂₅ stored in the IC tag 5 _{1-5 25} includes a tag identification code that uniquely identifies the respective IC tags.

  The transport route determination device 100 is a device mounted on the forklift 7, determines whether or not the forklift 7 is traveling properly on the route to the rack where goods are loaded and unloaded, and notifies the operator of the progress. To do.

  The transportation route determination device 100 includes an input unit 110, a display unit 120, an IC tag reader control unit 130, an inventory instruction information storage unit 140, a location information storage unit 150, a passing point determination unit 160, and a route determination unit. 170 and a passing point storage unit 180.

  The input unit 110 is an input device such as a keyboard, buttons, and switches. The display unit 120 is an output device such as a display.

The IC tag reader control unit 130 is a processing unit that detects a tag identification code from tag information 300 _{1 to} 300 ₂₅ read by the wide area reader 210, the right narrow area reader 220, and the left narrow area reader 230.

The stock instruction information storage unit 140 is a storage unit that stores a tag identification code of an IC tag corresponding to a rack into which goods are loaded and unloaded, and an arrival route determination condition indicating a route to the rack. FIG. 3 is a diagram illustrating an example of the stock instruction information storage unit 140. As shown in the figure, the stock instruction information storage unit 140 stores a tag identification code of an IC tag corresponding to a rack for loading / unloading a package and arrival route determination conditions. The arrival route determination condition here is a condition in which location numbers corresponding to points on the route until reaching the rack are combined with logical product (and) and logical sum (or). In the example shown in the figure, the tag identification code of the IC tag 5 ₁ to 5 _25, respectively as "T01" - "T25", shown in FIG. 1, the location number corresponding to the point ₆₁ through ₁₀ , “1” to “10”, respectively.

The location information storage unit 150 is a storage unit that stores location numbers corresponding to predetermined points 6 _{1 to} 6 ₁₀ in the warehouse, location determination conditions, and rack sections. FIG. 4 is a diagram illustrating an example of the location information storage unit 150. As shown in the figure, the location information storage unit 150 stores, for each predetermined point in the warehouse, a tag identification code corresponding to each point, a location determination condition, and a rack classification in association with each other.

The location determination condition here, the tag identification code of the IC tag 5 ₁ to 5 ₂₅ is assumed to wide area reader 210 reads in the site, in conjunction with logical (and) and disjunction (or) Configuration This is the condition.

The rack section is a section for determining whether the point is on the entry lanes 3 _{1 to} 3 ₃ or the passing lane 4, and is on the entry lanes 3 _{1 to} 3 _3. Is set to “1”, and “0” is set when it is on the passing lane 4.

In the example shown in the figure, the tag identification code of the IC tag 5 ₁ to 5 _25, respectively as "T01" - "T25", shown in FIG. 1, the location number corresponding to the point ₆₁ through ₁₀ , “1” to “10”, respectively.

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

The passage point determination unit 160 refers to a location determination condition that is a logical combination of the tag identification codes stored in the location information storage unit 150, so that exceptional communication occurs, and the wide area reader 210 detects the IC tag. even 5 ₁ to 5 if no load portion of the IC tag correctly out of _25, it is possible to determine the point where the forklift 7 has passed.

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

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

  On the other hand, if the arrival route determination condition is not satisfied, the route determination unit 170 determines that the forklift 7 has deviated from the route and outputs a warning message to the driver on the display unit 120. Here, when the rack classification of all the points determined by the passing point determination unit 160 based on the location determination condition is “1”, it is determined that the vehicle has entered the wrong lane and entered the wrong lane. A warning message is displayed. On the other hand, if the rack classification is “0”, it is determined that the target lane has been passed, and a warning message indicating that the target lane has been passed is displayed.

  The route determination unit 170 also detects the right narrow area reader 220 when the IC tag detected by the IC tag reader controller 130 via the wide area reader 210 includes an IC tag corresponding to the target rack. The left narrow area reader 230 is activated to read the IC tags on the left and right sides of the forklift 7. Here, when the right narrow area reader 220 reads the target IC tag, a message indicating that the target rack has been found is displayed on the right side. When the left narrow area reader 230 reads the target IC tag, a message indicating that the target rack has been found is displayed on the left side.

The route determination unit 170 refers to the arrival route determination condition logically combined with the location number indicating the predetermined point in the warehouse stored in the stock instruction information storage unit 140, and thus the exception communication occurs. even if the wide area reader 210 does not load properly part of the IC tag of the portion of the IC tag 5 ₁ to 5 _25, it determines whether a forklift 7 has progressed a route to rack goods movements correctly can do.

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

  The control unit 190 is a processing unit that controls the entire transport route determination apparatus 100, and specifically, by transferring control between the functional units and transferring data between the functional units and the storage unit. The transportation route determination device 100 is caused to function as one device.

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

As shown in the figure, the conveying path determination unit 100 reads the tag information 300 ₁ to 300 ₂₅ broad reader 210 from the periphery of the IC tag 5 ₁ to 5 _25, IC tag reader controller 130 the tag information 300 from ₁ to 300 _25, to detect the tag identifier (step S101).

  Then, the passage point determination unit 160 extracts the location numbers and rack classifications of all points where the location determination condition is satisfied from the location information storage unit 150 based on the tag identification code detected by the IC tag reader control unit 130. (Step S102).

  And when there is no point where the location determination condition is satisfied (step S103, No), the process returns to step S101. On the other hand, when there are one or more points where the location determination condition is satisfied (step S103, Yes), the route determination unit 170 stores the location number extracted by the passage point determination unit 160 and the passage point storage unit 180. The combination with the location number that has been determined is determined based on the arrival route determination condition (step S104).

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

  If none of the arrival route determination conditions is satisfied (step S105, No), the rack classification of all points extracted by the passing point determination unit 160 based on the location determination conditions is “1” (on the approach lane). ), And if the rack classification at all points is “1” (Yes in step S110), it is determined that the forklift 7 has entered the wrong lane, and has entered the wrong lane. Is displayed (step S111), and the process returns to step S101. On the other hand, when a point where the rack classification is not “1” is included (step S110, No), a message indicating that the forklift has passed the target entry lane is displayed (step S112), and the process returns to step S101.

  If the IC tag read by the wide area reader 210 includes an IC tag corresponding to the target rack (Yes in step S113), the right narrow area reader 220 and the left narrow area reader 230 are activated. Then, the IC tags on the left and right of the forklift are read (step S114).

  When the right narrow area reader 220 reads an IC tag corresponding to the target rack (step S115, Yes), a message indicating that the target rack has been found is displayed on the right side (step S116). When the left narrow area reader 230 reads an IC tag corresponding to the target rack (step S117, Yes), a message indicating that the target rack has been found is displayed on the left side (step S118).

  In this way, the passing point determination unit 160 and the route determination unit 170 determine whether or not the forklift is traveling on the correct route at any time. If the forklift has entered the wrong lane, a warning message is displayed at the time of entry or immediately after entry. Is displayed on the display unit 120, the operator of the forklift 7 can recognize an error at an early stage.

As described above, in the present embodiment, the passing point determination unit 160 has the tag identification code of the IC tag detected by the IC tag reader control unit 130 at each passing point on the route to the target rack. In addition, the passage point is determined based on a predetermined location determination condition in which the tag identification code is combined with the logical product (and) and the logical sum (or), and the route determination unit 170 determines the passage point determined by the passage point determination unit 160. Based on the point, the passing point is determined by a predetermined arrival route determination condition that is combined with logical product (and) and logical sum (or). 5 even if _{the 1-5 25} failed to load, to minimize the event, such as skipping and reading leakage, it is possible to determine the transport path with high accuracy.

  In this embodiment, a warehouse in which 25 racks are arranged to form 5 rows of racks each consisting of 5 racks, 3 entrance lanes, and 1 passing lane. Although described as an example, the present invention is not limited to this, and for each warehouse having a different number of racks, rack rows, and lanes, each determination condition is set according to the warehouse configuration. Thus, the same can be applied.

  In the present embodiment, it is configured to determine whether or not the forklift is traveling along the correct route at the passage points at two time points. However, the determination may be made at the passage points at three or more time points. .

  In this embodiment, the tag identification code of the IC tag corresponding to each rack is used to determine the passing point of the forklift. However, the number indicating the position of the rack is stored in advance in all the IC tags. In addition, the passing point of the forklift may be determined using the number or the like.

  In this embodiment, the IC tag is detected by using the wide area reader, the right narrow area reader, the left narrow area reader, and the three IC tag readers. However, the single IC tag reader is used. Thus, the IC tag may be detected by controlling the directionality and directivity.

  Moreover, although the present Example demonstrated the conveyance route determination apparatus, the conveyance route determination program which has the same function can be obtained by implement | achieving the structure which a conveyance route determination device has with software. Therefore, a computer that executes the transportation route determination program will be described.

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

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

  The HDD 430 is a disk device that stores programs and data, and the PC interface 440 is an interface for connecting the computer 400 to another computer.

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

  The transportation route determination program 411 executed in the computer 400 is stored in a database or the like of another computer connected via the PC interface 440, read from these databases, and installed in the computer 400.

  The installed transportation route determination program 411 is stored in the HDD 430, read into the RAM 410, and executed by the CPU 420 as the transportation route determination process 421.

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

  The present invention relates to a transport route determination device, a transport route determination method, and a transport route determination program for determining a transport route of a transport vehicle that moves toward a designated location among a plurality of locations, and in particular, installed at a plurality of locations. When determining the transport route of a transport vehicle using a transmitter or the like, the transport route determination device can determine the transport route with high accuracy even in an environment where there are many reflective substances that can be disturbance factors when performing wireless communication. The present invention relates to a transportation route determination method and a transportation route determination program.

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

  As a technology using such an IC tag, for example, in PCT / JP2004 / 019619, in the warehouse entry / exit work, IC tags are respectively associated with a plurality of racks arranged in the warehouse, The IC tag reader / writer attached to the transport vehicle reads these IC tags, and based on the read IC tag, determines the position of the transport vehicle based on the preinstalled IC tag installation position. A technique for notifying the operator of the progress of the transport vehicle moving toward the rack is described.

  However, in IC tag installation sites such as warehouses, exception communication occurs due to the influence of disturbance factors such as multi-stage rack metal frames and dough can products, and communication with IC tags that should normally be able to communicate becomes impossible. In some cases, conversely, communication may be possible with an IC tag that should not be able to communicate. In this case, there is a problem that the position of the transport vehicle cannot be determined correctly.

  The present invention has been made to solve the above-described problems caused by the prior art, and determines the transport route of a transport vehicle such as a forklift with high accuracy even when exceptional communication occurs due to the influence of disturbance elements. It is an object to provide a transportation route determination device, a transportation route determination method, and a transportation route determination program.

  In order to solve the above-described problems and achieve the object, the present invention is a transportation route determination device that determines a transportation route of a transportation vehicle that moves toward a designated location among a plurality of locations, An identification information detecting means for detecting identification information indicating the position of the transmitter from the received signal received from a transmitter installed in association with each location, and detected by the identification information detecting means Transportation route determination means for determining whether or not the transportation vehicle is traveling along a correct transportation route based on a condition in which the identification information is logically combined.

  According to the present invention, a number transmitted from a transmitter installed in association with each of a plurality of locations is received, identification information indicating the position of the transmitter is detected from the received signal, and the detected identification information is logically detected. Since it was decided to determine whether or not the transport vehicle is traveling along the correct transport route based on the combined conditions, exceptional communication occurred due to the influence of disturbance elements such as reflectors, and some transmitters were identified. Even when the information is not detected, it can be determined whether the transport vehicle is traveling along the correct transport route.

  Further, the present invention is the above invention, wherein the transport route determination means determines the position of the transport vehicle based on the identification information detected by the identification information detection means, and the determined position and the position determined in the past It is characterized in that it is determined whether or not the transport vehicle is traveling along a correct transport route based on a condition obtained by logically combining.

  According to the present invention, identification information is detected from transmitters installed in association with a plurality of locations, the position of the transport vehicle is determined based on the detected identification information, and the determined position and the past are determined. Since it was decided whether or not the transporting vehicle was following the correct transport route based on the condition that logically combined the position, exception communication occurred due to the influence of disturbance elements such as reflectors, and some Even if the identification information of the transmitter is not detected and, therefore, some of the points that the transport vehicle has passed cannot be determined, whether the transport vehicle is traveling on the correct transport route based on the determined points It can be determined whether or not.

  Moreover, the present invention is characterized in that, in the above invention, the transport route determination means determines the position of the transport vehicle based on a condition that logically combines the identification information detected by the identification information detection means. .

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

  In addition, the present invention is a transport route determination method for determining a transport route of a transport vehicle that moves toward a designated location among a plurality of locations, wherein the transmitter is installed in association with each of the plurality of locations. The identification information detection step for detecting the identification information indicating the position of the transmitter from the received signal and the identification information detected by the identification information detection step are logically combined. And a transport route determination step for determining whether or not the transport vehicle is traveling along a correct transport route.

  According to the present invention, a signal transmitted from a transmitter installed in association with a plurality of locations is received, identification information indicating the position of the transmitter is detected from the received signal, and the detected identification information is logically detected. Since it was decided to determine whether or not the transport vehicle is traveling along the correct transport route based on the combined conditions, exceptional communication occurred due to the influence of disturbance elements such as reflectors, and some transmitters were identified. Even when the information is not detected, it can be determined whether the transport vehicle is traveling along the correct transport route.

  In addition, the present invention is a transport route determination program for determining a transport route of a transport vehicle that moves toward a designated location among a plurality of locations, the transmitter installed in association with each of the plurality of locations. The identification information detection procedure for detecting the identification information indicating the position of the transmitter from the received signal and the identification information detected by the identification information detection procedure are logically combined. And a transportation route determination procedure for determining whether or not the transportation vehicle is traveling on a correct transportation route based on the computer.

  According to the present invention, a signal transmitted from a transmitter installed in association with a plurality of locations is received, identification information indicating the position of the transmitter is detected from the received signal, and the detected identification information is logically detected. Since it was decided to determine whether or not the transport vehicle is traveling along the correct transport route based on the combined conditions, exceptional communication occurred due to the influence of disturbance elements such as reflectors, and some transmitters were identified. Even when the information is not detected, it can be determined whether the transport vehicle is traveling along the correct transport route.

  According to the present invention, even when exceptional communication occurs due to the influence of a disturbance element such as a reflector and the identification information of some transmitters is not detected, it is determined whether or not the transporting vehicle is following the correct route. Therefore, it is possible to minimize an event such as skipping or reading omission of the transmitter, and to determine whether or not the transporting vehicle is traveling on the correct transporting route with high accuracy.

  In addition, according to the present invention, exceptional communication occurs due to the influence of a disturbance element such as a reflector and the identification information of some transmitters is not detected. Even if it cannot be determined, it can be determined whether the transport vehicle is following the correct route based on other points that can be determined, so events such as skipping the transmitter and reading omissions are minimized. This produces an effect that it can be determined whether or not the transport vehicle is traveling on the correct transport route with high accuracy.

  In addition, according to the present invention, the position of the transport vehicle can be determined even when exceptional communication occurs due to the influence of a disturbance element such as a reflector and the identification information of some transmitters is not detected. Thus, it is possible to minimize an event such as skipping of reading or reading omission of the transmitter, and to determine the position of the transport vehicle with high accuracy.

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

First, the concept of the transportation route determination device according to the present embodiment will be described. Drawing 1 is an explanatory view for explaining the concept of the conveyance course judging device concerning this example. In the example shown in the drawing, the warehouse, the rack 1 ₁ to 1 ₂₅ for placing luggage, the rack rows 2 ₁ to 2 ₅ 1 column consists of five racks, while the forklift 7 of the rack rows It arrange | positions so that the entrance lane 3 ₁ to ₃ 3 for approaching and the passing lane 4 which passes the side of the rack row 2 ₁ to ₂₅ may be comprised. Further, here, the rack 1 ₁₄ is configured as a rack entry and leaving the luggage.

The rack ₁ 1 to 1 _25, IC tag 5 _{1-5 25} respectively are mounted in association. These IC tag 5 ₁ to 5 _25, tag information are respectively stored. This tag information includes a tag identification code that is unique for each tag.

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

Wide area reader 210 is connected to the conveying path determination unit 100, directivity so that the communication range that can read the tag information from a plurality of IC tags 5 ₁ to 5 ₂₅ is adjusted.

  The right narrow area reader 220 is connected to the transport route determination device 100 and is a wide area reader so that tag information can be read from only one IC tag among the IC tags located on the right side of the forklift 7. The directivity is adjusted so that the communication range is narrower than that of 210.

  The left narrow area reader 230 is connected to the transport route determination device 100 and is a wide area reader so that tag information can be read from only one IC tag among the IC tags located on the left side of the forklift 7. The directivity is adjusted so that the communication range is narrower than that of 210.

The conveying path determining device 100 in advance, and the location determination condition for determining the position of the forklift 7 based on the IC tag 5 ₁ to 5 _25, the arrival path determination condition for determining the progress of the forklift 7 Remember.

Here, location determination condition is a condition in which the wide area reader 210 at a predetermined point ₆₁ through ₁₀ were combined with the IC tag 5 ₁ to 5 ₂₅ is assumed to detect logically in the warehouse.

In the example shown in FIG. 1, the point _61, the (5 ₁ or 5 _6), the point 6 _2, it is (5 ₆ or 5 _11), the point 6 _3, is (5 ₁₁ or 5 _16), for point 6 _4, it is (5 ₁₆ or 5 _21), the point 6 _5, the _{(5 1 and 5 6) or} (5 2 and 5 7) or (5 1 and 5 2) or (5 6 and5 7) , For point 6 ₆ , (5 ₂ and 5 ₇ ) or (5 ₃ and 5 ₈ ) or (5 ₂ and 5 ₃ ) or (5 ₇ and 5 ₈ ) for point 6 ₇ , (5 ₃ and 5 ₈₎ ) or (5 ₄ and 5 ₉ ) or (5 ₃ and 5 ₄ ) or (5 ₈ and 5 ₉ ), about point 6 ₈ , (5 ₁₁ and 5 ₁₆ ) or (5 ₁₂ and 5 ₁₇ ) or (5 _{11 and 5 12) or (5 16} and 5 17), the point _{6 9, (5 12 and 5} 17) or (5 13 and 5 18) or (5 12 and 5 13) or (5 17 nd 5 ₁₈₎ is, for point 6 _10, the _{(5 13 and 5 18) or} (5 14 and 5 19) or (5 13 and 5 14) or (5 18 and 5 19), as each location determination condition Is defined.

Based on this location determination condition, by determining the combinations of the IC tag 5 ₁ to 5 ₂₅ read by the wide area reader 210 can determine the point ₆₁ through ₁₀ forklift 7 has passed at that time.

Here, the course of the forklift 7 progresses, the exception communication is generated, the IC tag 5 ₁ to 5 ₂₅ to the wide area reader 210 is assumed to be detected at each point, even if it can not necessarily all detection, location determination condition Is established, and it can be determined that the forklift 7 has passed the point.

For example, if the point ₆₁ forklift 7 has passed, but would normally 5 ₁ and 5 ₆ IC tag is should be detected by the wide area reader 210, even if an exception communication occurs, either 1 One of if the IC tag is detected, it can be determined to have passed the point _61.

Similarly, if the point 6 ₂ forklift 7 has passed, but would normally 5 ₆ and 5 ₁₁ IC tag is should be detected by the wide area reader 210, even if an exception communication occurs, either if one IC tag is detected, it can be determined to have passed the point 6 _2.

Similarly, if the point 6 ₃ forklift 7 has passed, but would normally 5 ₁₁ 5 ₁₆ IC tag is should be detected by the wide area reader 210, even if an exception communication occurs, either if one IC tag is detected, it can be determined to have passed the point 6 _3.

Also, if the point 6 ₈ forklift 7 has passed, but would normally 5 _11, 5 _12, 5 _16, and 5 ₁₇ IC tag is should be detected by the wide area reader 210, an exception communication is generated even when any two adjacent IC tag, or, if any two opposing to each other IC tag is detected, it can be determined to have passed the point 6 _8.

Similarly, if the point 6 ₉ forklift 7 has passed, but would normally 5 _12, 5 _13, 5 _17, and 5 ₁₈ IC tags should be detected in the wide area reader 210, an exception communication even if that occurs, any two adjacent IC tag, or, if any two opposing to each other IC tag is detected, it can be determined to have passed the point 6 _9.

Similarly, if the point 6 ₁₀ forklift 7 has passed, but would normally 5 _13, 5 _14, 5 _18, and 5 ₁₉ IC tags should be detected in the wide area reader 210, an exception communication even if that occurs, any two adjacent IC tag, or, if any two opposing to each other IC tag is detected, it can be determined to have passed the point 6 _10.

  The arrival route judgment condition is a condition in which two points are combined by logical product from all points on the route until reaching the rack to be loaded and unloaded, and all combinations of logical products are further connected by logical sum. is there.

In the example shown in FIG. 1, the rack 1 ₁₄ point 6 ₁ on the path to reach the, 6 _2, 6 _3, 6 _8, 6 _9, and 6 ₁₀ goods movements, (point ₆₁ and point 6 ₂ ) or (point 6 ₁ and point 6 ₃ ) or (point 6 ₁ and point 6 ₉ ) or (point 6 ₁ and point 6 ₉ ) or (point 6 ₁ and point 6 ₁₀ ) or (point 6 ₂ and point 6 ₃ ) 6 ₃₎ or (point 6 ₂ and point 6 ₈₎ or (point 6 ₂ and point 6 ₉₎ or (point 6 ₂ and point 6 ₁₀₎ or (point 6 ₃ and point 6 ₈₎ or (point 6 ₃ and point 6 ₉ ) or (Point 6 ₃ and Point 6 ₁₀ ) or (Point 6 ₈ and Point 6 ₉ ) or (Point 6 ₈ and Point 6 ₁₀ ) or (Point 6 ₉ and Point 6 ₁₀ ) Is set.

Based on this unreachable route determination condition, a passing point ₆₁ through ₁₀ determined by the location determination condition described above, by determining the combination of the point ₆₁ through ₁₀ determined in the previous determination, forklift 7 , it is possible to determine whether the proceeding on route to reach the rack 1 ₁₄ to goods movements correctly.

Here, even when exceptional communication occurs while the forklift 7 is moving, at least one of the points 6 ₁ , 6 ₂ , 6 ₃ , 6 ₈ , 6 _9, or 6 ₁₀ is determined according to the location determination condition described above. If at least one of the points 6 ₁ , 6 ₂ , 6 ₃ , 6 ₈ , 6 _9, or 6 ₁₀ is determined at the previous determination, the arrival route determination condition is satisfied, and the forklift 7 moves along the route. It can be determined that the vehicle is moving correctly.

For example, assume that the forklift 7 has traveled in the order of points 6 ₃ , 6 ₈ , and 6 ₉ . Exception communication occurs at the time of passing through the point _6-8, IC tag reader 200 is not able to detect the IC tag 5 ₁₁ and 5 _16, as a result, even when the point 6 ₈ can not be determined by location determination condition , if it is determined that the point 6 ₃ at the previous determination, then at the time point 6 ₉ has been determined, it can be determined that the forklift 7 is progressing properly route.

By the way, when the forklift 7 enters the wrong approach lane 3 ₁ , the IC tags 5 ₂ and 5 ₇ are detected by the wide area reader 210. Then, the location determination condition, the forklift 7 is determined to have passed the point 6 ₅ or 6 _6, since the arrival path determination condition is not satisfied, the forklift 7 is determined to have deviated from the route. In this case, a warning message indicating that the vehicle is entering the wrong lane is notified to the pilot.

Further, when the forklift 7 is proceeding on passing lane 4, or you've past the entrance lane 3 ₂ should enter in order to reach the rack 5 _14, the wide area reader 210, IC tag 5 ₂₁ is detected The Then, the location determination condition, the forklift 7 is determined to have passed the point 6 _4, since the arrival path determination condition is not satisfied, the forklift 7 is determined to have deviated from the route. In this case, a warning message indicating that the vehicle has passed the target lane is notified to the pilot.

Further, the IC tag wide reader 210 detects, if it contains an IC tag 5 ₁₄ corresponding to the rack 1 ₁₄ to goods movements are right narrow area reader 220 and the left short range reader 230 is activated . Then, if any of the narrow area reader detects the IC tag 5 ₁₄ objects for operator of the forklift 7, a message indicating that it has found the rack 1 ₁₄ of interest is notified.

As described above, the transportation route determination device 100 according to the present embodiment combines the location determination condition that logically combines the IC tag codes and the arrival route determination condition that combines the points that have passed through at the time. by determining whether at each point on the path to reach the purpose of the rack, even when the IC tag 5 ₁ to 5 ₂₅ to be detected originally by exception communication is not detected, and proceeds to route correctly It can be determined whether or not.

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

Wide area reader 210 from the IC tag 5 ₁ to 5 _25, is a device for reading the tag information 300 ₁ to 300 ₂₅ stored in each. The wide area reader 210 is adjusted in directivity so as to have a communication range in which tag information can be read from a plurality of IC tags.

Right narrow area reader 220 from the IC tag 5 ₁ to 5 _25, is a device for reading the tag information 300 ₁ to 300 ₂₅ stored in each. The directivity of the right narrow area reader 220 is adjusted so as to be within a communication range in which tag information can be read from only one IC among the IC tags positioned to the right of the forklift 7.

Left short range reader 230 from the IC tag 5 ₁ to 5 _25, is a device for reading the tag information 300 ₁ to 300 ₂₅ stored in each. The directivity of the left narrow area reader 230 is adjusted so as to be within a communication range in which tag information can be read from only one IC tag among the IC tags located on the left side of the forklift 7.

Note that the tag information 300 ₁ to 300 ₂₅ stored in the IC tag 5 _{1-5 25} includes a tag identification code that uniquely identifies the respective IC tags.

  The transport route determination device 100 is a device mounted on the forklift 7, determines whether or not the forklift 7 is traveling properly on the route to the rack where goods are loaded and unloaded, and notifies the operator of the progress. To do.

  The transportation route determination device 100 includes an input unit 110, a display unit 120, an IC tag reader control unit 130, an inventory instruction information storage unit 140, a location information storage unit 150, a passing point determination unit 160, and a route determination unit. 170 and a passing point storage unit 180.

  The input unit 110 is an input device such as a keyboard, buttons, and switches. The display unit 120 is an output device such as a display.

The IC tag reader control unit 130 is a processing unit that detects a tag identification code from the tag information 300 _{1 to} 300 ₂₅ read by the wide area reader 210, the right narrow area reader 220, and the left narrow area reader 230.

The stock instruction information storage unit 140 is a storage unit that stores a tag identification code of an IC tag corresponding to a rack into which goods are loaded and unloaded, and an arrival route determination condition indicating a route to the rack. FIG. 3 is a diagram illustrating an example of the stock instruction information storage unit 140. As shown in the figure, the stock instruction information storage unit 140 stores a tag identification code of an IC tag corresponding to a rack for loading / unloading a package and arrival route determination conditions. The arrival route determination condition here is a condition in which location numbers corresponding to points on the route until reaching the rack are combined with logical product (and) and logical sum (or). In the example shown in the figure, the tag identification code of the IC tag 5 ₁ to 5 _25, respectively as "T01" - "T25", shown in FIG. 1, the location number corresponding to the point ₆₁ through ₁₀ , “1” to “10”, respectively.

The location information storage unit 150 is a storage unit that stores location numbers corresponding to predetermined points 6 _{1 to} 6 ₁₀ in the warehouse, location determination conditions, and rack sections. FIG. 4 is a diagram illustrating an example of the location information storage unit 150. As shown in the figure, the location information storage unit 150 stores, for each predetermined point in the warehouse, a tag identification code corresponding to each point, a location determination condition, and a rack classification in association with each other.

Configuration and Location determination condition here, the IC tag 5 ₁ to 5 ₂₅ tag identification codes that are virtual When the wide area reader 210 reads in the site, in conjunction with logical (and) and disjunction (or) This is the condition.

The rack section is a section for determining whether the point is on the entry lanes 3 _{1 to} 3 ₃ or the passing lane 4, and is on the entry lanes 3 _{1 to} 3 _3. Is set to “1”, and “0” is set when it is on the passing lane 4.

In the example shown in the figure, the tag identification code of the IC tag 5 ₁ to 5 _25, respectively as "T01" - "T25", shown in FIG. 1, the location number corresponding to the point ₆₁ through ₁₀ , “1” to “10”, respectively.

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

The passage point determination unit 160 refers to a location determination condition that is a logical combination of the tag identification codes stored in the location information storage unit 150, so that exceptional communication occurs, and the wide area reader 210 detects the IC tag. even 5 ₁ to 5 if no load portion of the IC tag correctly out of _25, it is possible to determine the point where the forklift 7 has passed.

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

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

  On the other hand, if the arrival route determination condition is not satisfied, the route determination unit 170 determines that the forklift 7 has deviated from the route and outputs a warning message to the driver on the display unit 120. Here, when the rack classification of all the points determined by the passing point determination unit 160 based on the location determination condition is “1”, it is determined that the vehicle has entered the wrong lane and entered the wrong lane. A warning message is displayed. On the other hand, if the rack classification is “0”, it is determined that the target lane has been passed, and a warning message indicating that the target lane has been passed is displayed.

  The route determination unit 170 also detects the right narrow area reader 220 when the IC tag detected by the IC tag reader controller 130 via the wide area reader 210 includes an IC tag corresponding to the target rack. The left narrow area reader 230 is activated to read the IC tags on the left and right sides of the forklift 7. Here, when the right narrow area reader 220 reads the target IC tag, a message indicating that the target rack has been found is displayed on the right side. When the left narrow area reader 230 reads the target IC tag, a message indicating that the target rack has been found is displayed on the left side.

The route determination unit 170 refers to the arrival route determination condition logically combined with the location number indicating the predetermined point in the warehouse stored in the stock instruction information storage unit 140, and thus the exception communication occurs. even if the wide area reader 210 does not load properly part of the IC tag of the portion of the IC tag 5 ₁ to 5 _25, it determines whether a forklift 7 has progressed a route to rack goods movements correctly can do.

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

  The control unit 190 is a processing unit that controls the entire transport route determination apparatus 100, and specifically, by transferring control between the functional units and transferring data between the functional units and the storage unit. The transportation route determination device 100 is caused to function as one device.

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

As shown in the figure, the conveying path determination unit 100 reads the tag information 300 ₁ to 300 ₂₅ broad reader 210 from the periphery of the IC tag 5 ₁ to 5 _25, IC tag reader controller 130 the tag information 300 from ₁ to 300 _25, to detect the tag identifier (step S101).

  Then, the passage point determination unit 160 extracts the location numbers and rack classifications of all points where the location determination condition is satisfied from the location information storage unit 150 based on the tag identification code detected by the IC tag reader control unit 130. (Step S102).

  And when there is no point where the location determination condition is satisfied (step S103, No), the process returns to step S101. On the other hand, when there are one or more points where the location determination condition is satisfied (step S103, Yes), the route determination unit 170 stores the location number extracted by the passage point determination unit 160 and the passage point storage unit 180. The combination with the location number that has been determined is determined based on the arrival route determination condition (step S104).

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

  If none of the arrival route determination conditions is satisfied (step S105, No), the rack classification of all points extracted by the passing point determination unit 160 based on the location determination conditions is “1” (on the approach lane). ), And if the rack classification at all points is “1” (Yes in step S110), it is determined that the forklift 7 has entered the wrong lane, and has entered the wrong lane. Is displayed (step S111), and the process returns to step S101. On the other hand, when a point where the rack classification is not “1” is included (step S110, No), a message indicating that the forklift has passed the target entry lane is displayed (step S112), and the process returns to step S101.

  If the IC tag read by the wide area reader 210 includes an IC tag corresponding to the target rack (Yes in step S113), the right narrow area reader 220 and the left narrow area reader 230 are activated. Then, the IC tags on the left and right of the forklift are read (step S114).

  When the right narrow area reader 220 reads an IC tag corresponding to the target rack (step S115, Yes), a message indicating that the target rack has been found is displayed on the right side (step S116). When the left narrow area reader 230 reads an IC tag corresponding to the target rack (step S117, Yes), a message indicating that the target rack has been found is displayed on the left side (step S118).

  In this way, the passing point determination unit 160 and the route determination unit 170 determine whether or not the forklift is traveling on the correct route at any time. If the forklift has entered the wrong lane, a warning message is displayed at the time of entry or immediately after entry. Is displayed on the display unit 120, the operator of the forklift 7 can recognize an error at an early stage.

As described above, in the present embodiment, the passing point determination unit 160 has the tag identification code of the IC tag detected by the IC tag reader control unit 130 at each passing point on the route to the target rack. In addition, the passage point is determined based on a predetermined location determination condition in which the tag identification code is combined with logical product (and) and logical sum (or), and the route determination unit 170 determines the passage point determined by the passage point determination unit 160. Based on the point, the passing point is determined by a predetermined arrival route determination condition combined with logical product (and) and logical sum (or). 5 even if _{the 1-5 25} failed to load, to minimize the event, such as skipping and reading leakage, it is possible to determine the transport path with high accuracy.

  In this embodiment, a warehouse in which 25 racks are arranged to form 5 rows of racks each consisting of 5 racks, 3 entrance lanes, and 1 passing lane. Although described as an example, the present invention is not limited to this, and for each warehouse having a different number of racks, rack rows, and lanes, each determination condition is set according to the warehouse configuration. Thus, the same can be applied.

  In the present embodiment, it is configured to determine whether or not the forklift is traveling along the correct route at the passage points at two time points. However, the determination may be made at the passage points at three or more time points. .

  In this embodiment, the tag identification code of the IC tag corresponding to each rack is used to determine the passing point of the forklift. However, the number indicating the position of the rack is stored in advance in all the IC tags. In addition, the passing point of the forklift may be determined using the number or the like.

  In this embodiment, the IC tag is detected by using the wide area reader, the right narrow area reader, the left narrow area reader, and the three IC tag readers. However, the single IC tag reader is used. Thus, the IC tag may be detected by controlling the directionality and directivity.

  Moreover, although the present Example demonstrated the conveyance route determination apparatus, the conveyance route determination program which has the same function can be obtained by implement | achieving the structure which a conveyance route determination device has with software. Therefore, a computer that executes the transportation route determination program will be described.

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

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

  The HDD 430 is a disk device that stores programs and data, and the PC interface 440 is an interface for connecting the computer 400 to another computer.

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

  The transportation route determination program 411 executed in the computer 400 is stored in a database or the like of another computer connected via the PC interface 440, read from these databases, and installed in the computer 400.

  The installed transportation route determination program 411 is stored in the HDD 430, read into the RAM 410, and executed by the CPU 420 as the transportation route determination process 421.

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

It is explanatory drawing for demonstrating the concept of the conveyance path | route determination apparatus which concerns on a present Example. It is a functional block diagram which shows the structure of the conveyance path | route determination apparatus which concerns on a present Example. It is a figure which shows an example of a stock instruction information storage part. It is a figure which shows an example of a location information storage part. It is a flowchart which shows the process sequence of the conveyance route determination apparatus which concerns on a present Example. It is a functional block diagram which shows the structure of the computer which performs the conveyance route determination program which concerns on a present Example.

Explanation of symbols

1 ₁ to 1 ₂₅ rack 2 _{1 to} 2 ₅ rack row 3 _{1 to} 3 ₃ entry lane 4 passing lane 5 _{1 to} 5 ₂₅ IC tag 6 _{1 to} 6 ₁₀ point 7 forklift 100 transport route determination device 110 input unit 120 display unit 130 IC tag reader control unit 140 Inventory instruction information storage unit 150 Location information storage unit 160 Passage point determination unit 170 Route determination unit 180 Passage point storage unit 210 Wide area reader 220 Right narrow area reader 230 Left narrow area reader 300 _{1 to} 300 ₂₅ Tag information 400 Computer 410 RAM
411 Transportation route determination program 420 CPU
421 Transport route determination process 430 HDD
440 PC interface 450 I / O interface

Claims (9)

A transport route determination device that determines a transport route of a transport vehicle that moves toward a designated location among a plurality of locations,
An identification information detecting means for receiving a signal transmitted from a transmitter installed in association with each of the plurality of locations, and detecting identification information indicating a position of the transmitter from the received signal;
A transport route determination unit that determines whether or not the transport vehicle is traveling on a correct transport route based on a condition that logically combines the identification information detected by the identification information detection unit;
A transportation route determination device characterized by comprising:   The transport route determination unit determines the position of the transport vehicle based on the identification information detected by the identification information detection unit, and is based on a condition that logically combines the determined position and a previously determined position. The transport route determination apparatus according to claim 1, wherein the transport vehicle determines whether the transport vehicle is traveling along a correct transport route.   The transport route according to claim 1 or 2, wherein the transport route determination unit determines the position of the transport vehicle based on a condition obtained by logically combining the identification information detected by the identification information detection unit. Judgment device.   The transport route determination means determines the position of the transport vehicle based on the identification information detected by the identification information detection means, and based on a condition in which the determined position and the previously determined position are combined with a logical product. The transport route determination device according to claim 2, wherein the transport vehicle determines whether or not the transport vehicle is traveling along a correct transport route.   The transportation route determination means determines whether or not the transportation vehicle is traveling along the correct transportation route, and if the transportation vehicle is not traveling along the correct transportation route, notifies the operator that the transportation route has been removed. The transport route determination apparatus according to claim 1, wherein:   The transport route determination means determines whether or not the transport vehicle is traveling along the correct transport route, and if the transport vehicle is traveling along the correct transport route, the operator is informed that the transport route is traveling correctly. The conveyance route determination device according to claim 1, wherein notification is performed. The transmitter is an IC tag,
The said identification information detection means receives a signal from the said IC tag using an IC tag reader / writer, The conveyance path | route determination apparatus of Claim 1 or 2 characterized by the above-mentioned. A transport route determination method for determining a transport route of a transport vehicle that moves toward a designated location among a plurality of locations,
An identification information detecting step of receiving a signal transmitted from a transmitter installed in association with each of the plurality of locations, and detecting identification information indicating a position of the transmitter from the received signal;
A transport route determination step of determining whether or not the transport vehicle is traveling on a correct transport route based on a condition that logically combines the identification information detected by the identification information detection step;
A transportation route determination method characterized by including A transport route determination program for determining a transport route of a transport vehicle that moves toward a designated location among a plurality of locations,
An identification information detection procedure for receiving a signal transmitted from a transmitter installed in association with each of the plurality of locations, and detecting identification information indicating a position of the transmitter from the received signal;
A transport route determination procedure for determining whether the transport vehicle is traveling on a correct transport route based on a condition that logically combines the identification information detected by the identification information detection procedure;
A transport route determination program characterized by causing a computer to execute.

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